This will be up to you. If you are so sore that you cannot properly lift both safely and with a full range of motion for that exercise without pain, then you should consider moving your workout to a different day.
If you are still able to move well through the exercises, without pain and in a safe manner, then you can work out. However, do note that the amount of weight and/or reps that you are able to perform may not be as good compared to if you were fully fresh. Also, your effort level may be higher due to being more sore.
In general, you should not feel sore after every workout nor should you always strive to feel sore, as feeling sore is not a good indicator of muscle growth. Soreness can come from beginning a new exercise program and should subside with time. It also might mean that you went a little too hard in your workout session and that you should ease up on the weights, reps and/or sets next time.
Lastly, if you are sore, the last thing you should do is sit all day. Choosing some form of active recovery like stretching, foam rolling, and even going on a walk, can be helpful for feeling less sore and stiff, as well as helpful for speeding up the recovery process.