this is where rotating muscle groups come into play.

If you worked your arms and chest and they are sore till the next workout day, then train legs, back or shoulders during that day.

This is if you are already on a split routine. If you are just starting off then most likely your focus is still on compound exercises. In this case, I'd say do full body workout 2days(if u can, 3days) a week to get your body ready for the stress load.

When you feel your recovery time is improving, move on to specific muscle groups during each workout session.

*tip to hasten muscle soreness and recovery time
- Do some cardio at the end of your workout session(5-7mins of heart pumping action)
- ALWAYS stretch when you are done with your resistance training.
-These are to stimulate blood flow and reduce lactic acid buildup

Do compound exercises.
Squats, deadlifts, pullups, chinups, dips, bench presses, military presses and not forgetting sit ups/crunches. These pretty much cover all the muscle groups in ur body.

Look up some examples and techniques on the net.
bodybuilding.com is a good start.