Being sore really isn't an indicator of pushing yourself too hard, it's more of a sign of your muscles going, "Ooooh this is new... Ouch!"
And the soreness will go away, especially if you get your body used to Tae Bo!
Remarkably, once you get moving again and using the sore muscles, the soreness goes away. But, if you get light headed, feel dizzy, have trouble breathing, or feel EXTRA tired doing day to day stuff, then you ARE pushing too hard!
So I guess it's really up to you whether you want to work out when you're still sore, but I wouldn't give up Tae Bo, you'll get used to it