Can I workout with sore muscles?

I just started my first day in the gym yesterday after a month of no exercising (used to do insanity) and now my muscles are sore. It's the normal soreness after a workout you're not used to or haven't done in a long time so it's not that severe and painful. it just aches a bit when i move.

I'm planning to go to the gym again to do cardio only. (treadmill and elliptical) But I just want to know if working out while my muscles are sore will be bad for my muscles? will it hinder my muscle's recovery and will it make it worse?