In a word, yes.
But there's a major difference between some good soreness and pain.
Pain is no good.
If your muscles are a little sore after a workout - the next day, especially - then that means that your muscles were worked, that they've broken down a little, and have begun the healing process (when they become stronger than they were earlier).
There can be a great, satisfying feel to that.
It usually will go away after a day or so...
leaving you craving more.
However, pain is another different thing entirely.
If your legs are so sore that you can't even walk, well, maybe that's a sign of not doing a lift correctly.
Pay special attention to the degree of soreness - or pain - in your back.
You're going to need that! Pain is a warning sign from your body that you might be well on your way to really injuring yourself.
If you play baseball, football, or any other sport, you know that even a week or two of missed time can be crucial to you and the team; especially if you're pursuing a scholarship or your team is on the way to a possible state title! Make sure that you stop a lift immediately if you feel a sharp, sudden pain while doing it.
Don't worry: you can always start the lift again, this time making sure to properly have the correct form I recommend getting a spotter or a trainer around you to give you some pointers, as well.
If the pain continues, go to the doctor and get it worked out as soon as you can.