just keep riding or take it a bit slower then usual, i am not an expert but i have been riding everyday to work for the last month, (5 days a week) and i typicially ride on saturday as well.

I think legs aren't really a muscle group that you can typically rest per say anyways, the best you can do is go to sleep at a decent hour and eat properly.

feels awesome knowing you didn't drive to work all week though, and that totally out weighs some legs that complain a bit.