A good 10 minute cool down is highly recommended after any exercise. It is as important as the warm up session. Stretching the muscle groups that have been working will help to break down lactic acid which has built up in the muscles, holding each stretch for 25-30 seconds.
If muscles are aching 24 hours, after gentle exercise will help increase the blood flow and ease aching limbs. Muscle rub will offer a soothing effect and relieve pain or a re-usable gel warm pack will also help.