Epsom salts are supposed to work. I've never noticed much difference between a regular hot soak and a hot soak with the salts. It feels pretty nice either way.

My favorite thing to do is to hit the whirlpool or sauna in the gym after a particularly gruelling workout. It
seems to lessen the soreness afterwards, and even if it doesn't, I think it's a reasonable reward for a job well done.
Don't worry about the pain though. It comes with the territory. You'll find that it lessens as you get used to it, and that when you try something new, your muscles will cry out in protest all over again.
Do some gentle stretching, have some hot baths and then do it all over again as soon as you're able.