DOMS is unaccustomed activity usually the eccentric part of the muscle contraction (when it's stretching under gravity). So if you walked 10K regularly, would you still get the muscle soreness? If yes, then there's something more than muscle soreness going on.
The best cure to prevent muscle soreness it is to do an activity to overload the muscles eccentrically, bizarre as it sounds. This is because once 'damaged' there's a protective effect if you do a similar activity.
E.g. week 1's game of squash leaves you very sore 12-48 hrs afterwards, but the next week you're not as sore. Adaptation, protective effect and conditioning all play a part.
Try some squats or lunges to condition your quads. And the worst thing you can do after a strenuous bout of eccentric muscle loading is to have a hot bath - makes the inflammation far worse!