Doing it right = using good form, a well-designed program, weights that are challenging to you and good nutrition.
DOMS can occur any time you do something your body isn't used to... or when you are not fully warmed up... or when you workout longer than you usually do... or...
There can be any number of reasons for DOMS -- it is not necessary to have DOMS in order to have had an effective workout, nor is DOMS necessarily a sign of an effective workout.
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