Really, I try to go for one more rep until I see stars in front of my eyes.
And for the soreness the next day, start looking at it as progress. Unless, of course, it's severe. Then cut back a little bit. What exercises are you doing?
I think you can't really get around being kinda sore the first 2 weeks, but you can take hot showers and baths for temporary relief and then also ibuprofen for longer-lasting relief. The important thing is to keep moving and do some walking or cardio every day. It helps relieve the soreness and gets blood pumping thru your muscles. After the first 2 weeks, you should be completely pain free, but ya gotta stick with it!
Is the soreness during your workout or the day after?
For the day after muscle soreness you can take L-Glutamine which helps repair the torn muscle tissue and speed hearling . I mix it in with my protein shake after my workous...
the soreness is during the workout. I find when I feel this type of pain. I wimp out. I just thought there is some kind of tips to mentally block out the pain.
I just think - "I am Wonder Woman and this barbell is too light for me" before I get under it and squat. It really works!!!!
Tell yourself it's an easy ride, tell yourself you're only lifting light weights - even when you're trying for a pb. I find it helps confidence and the whole mental thing. If I try and squat a weight that I haven't done before, then I get kinda nervy and almost wimp out, but I remind myself that I have to show the boys that I can load up the rack and then carry through, and when I get onto the next set I say that it's too light for me. It does seem easier.
Just do! is my advise, probably not what you wanted to hear but eventually you will get used to it and appreciate the fact that you are strong and healthy and you can lift heavy weights...
I talked to a physiologist once, and she said she heard that if you drink Alka-Seltzer immediately-and she meant immediately-after a workout it will help prevent the lactic acid build up that causes that burning pain.
She never tried it, but said there's no reason it shouldn't work. I haven't tried it yet either.
The Pain
is my advise, probably not what you wanted to hear but eventually you will get used to it and appreciate the fact that you are strong and healthy and you can lift heavy weights... 
