the short answer
Delayed onset muscle soreness (DOMS) is the muscle pain and stiffness that appears roughly 12 to 72 hours after unfamiliar or hard training, peaking around the day-two mark. It is caused by microscopic muscle damage and the inflammation that follows as the muscle repairs - not by lactic acid. It is normal and temporary.
This article is general training information for coaches, not medical advice. Severe soreness, marked swelling, or dark urine can signal a serious condition and should be referred to a doctor.