That all sounds terrible, right?
Actually, it's not as bad as you may think (aside from the pain, of course). You see, muscle fibers that are challenged and stretched beyond their limits are muscle fibers primed to grow and get stronger. DOMS is an indicator of exercise-induced muscle damage (EIMD), which, in turn, is associated with the strengthening of muscle tissue and hypertrophy.
In layman's terms, that soreness you feel after a workout is a pretty good indicator that your muscle fibers are getting stronger and more efficient so that the next time you ask them to do the same workout, they'll be better prepared for the stress.
There's no easy fix
The cliche of "no pain, no gain" is, sadly, mostly true when it comes to working out. While there are ways to limit and reduce the pain associated with DOMS, there's no quick fix to make it simply go away. If you want to see steady improvements in the gym, you're going to have to resign yourself to the occasional discomfort of DOMS. Sorry.