I think everyone is different, and unless you are a paid athlete you probably should have at least one recovery day, doesn't mean you can't do something, a good hike on a recovery day is nice.
I have been working out for 15 years 6 days a week (at 4am no less!) any where's from 40 to 70 minutes sessions, and I still had days I woke up sore but I just powered through.
Recently I started to add some extra workouts in after work a few times a week, sometimes just at my house or with my girlfriend that has a gym membership, and been sore for the past two weeks! Nothing I can't handle though I actually kinda like it, feels like I did something! lol
If you are so sore that you can't move then wait to go to the gym, but I do recommend that you go out for a walk. A little sore is fine, every trainer will tell you that, even the fittest person will get sore if they push harder then they normally would!