How to make better recovery from hard exercise of rock climbing?

After fitting for my arm, foot, I don’t feel very tired at the muscle, however, after 2 days, the muscle feel very ache, sour, and hurt. Why does this happen and how to make the recovery faster. Especially I want to rock climbing one day and train my muscle one day and then day by day in turn. If my muscle keep this sour, I can not have a good training on rock climbing.

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