Okay, so on the subject of DOMS:
DOMS is, like many things, a spectrum. You might feel a little sore (like I do today) or you might feel REALLY sore (like I did yesterday, when it was incredibly painful on my shoulders/arms/chest just to reach down to pull up my pants.)
If you're just a little sore, buck up, stop whining, and get on with it.
If you're moderately sore, do a serious evaluation. Are you being a pansy and using "I'm SOOOORE!" as an excuse to skip a workout? Or are you edging into "really sore" territory? If the former, see "just a little sore." If the latter, see below.
If you're REALLY sore to the point you're having mobility problems such as struggling to reach down and pull up your pants:
First, the important thing to note is that working out while sore has NOT been shown to damage your muscles. Working out while sore HAS been shown to potentially delay healing, cause swelling, and prolong the amount of time you're suffering from serious DOMS. And if you're sore and it REALLY hurts and you're trying to power through your workout as usual, you very well may subconsciously perform differently to try and avoid the pain - your brain wants you to avoid the pain! PAIN BAD! So say you might do your squats wrong because your back hurts and isn't moving the way it normally does. That's a GREAT way to actually hurt yourself, and I'm not talking microscopic-tears-in-your-muscles hurt.
So what are your options? For a lot of people who push themselves hard routinely, if you skipped a workout every time you were REALLY sore, you'd skip a LOT of workouts... so don't skip a workout. Change your workout.
a) Go lighter or easier. Instead of loading up the bar with weight, do your squats with just the bar itself - or even just body weight squats. Ain't nothin' wrong with a body weight squat. If you were planning on a five mile run today but your legs are just shy of literally killing you, go for a five mile walk instead (or I tend to go on a shorter, slower run.)
b) Alter the muscle group you're using to avoid overworking the muscles that are making you want to cut off entire limbs. This is tough with a lot of workouts, particularly when you're on free weights; a proper squat is going to work **** near your whole body rather than just your legs, for example - but just because it's tough doesn't mean it impossible. Your calves hurt, so do push-ups and pull-ups instead. Your arms hurt, so ride a bike, go for a run, or do some leg lifts. Guarantee there's an exercise you can do that will still get your body moving and working, but won't put additional stress on your super-sore muscles.
It is INSANELY important to not cheat yourself out of muscle recovery (and growth) by not properly feeding your body, not drinking enough water, and not getting enough sleep. So do that too. And don't forget the mantra of "if it hurts, don't do it." But be realistic with yourself on what "hurts" versus "feels uncomfortable."
If you're in serious pain and everything really, truly hurts, rest.
But for most of us struggling with DOMS, most of the time... buck up, buttercup, and go work out.