Should I keep working out with sore muscles, or rest until they are not sore?

I recently started working out. I started out exercising at least three days a week for about an hour or two each time for two weeks now. Yesterday I did many squats and lunges and other leg toning exercises along with jumping rope, some core and ab exercises. Today my thighs, back and butt are slightly sore. Is it okay to jump rope while those muscles are sore, excluding the other exercises, or should I rest until they are not sore?