To add to what Walter said: there are ways to manage/mitigate the effects of DOMS (here's
a good article), but discomfort is part of having an active body that is subjected to physical challenges. The trick is to develop a sense for when "discomfort" means "this is something I should just ignore", and when it means "this is something I can safely ignore, but I can help it by doing something", and when it means "this means I'm doing something wrong and need to change it", and when it means "this is an injury that needs medical attention". I'm afraid that the only way to develop that sense is to learn by doing, and of course by asking others who are doing the same activity. So keep asking, and keep training!