I don't know how long the commute is, but if you never had problems doing it, the odds are that your legs recover enough on their own to be fine.

Otherwise, a long slow walk to help stimulate circulation, or some massage, or a warm bath, or a bit of all three.

You might also take a hint from pro and amateur racers and ride off the pain by getting back on the bike and riding at low effort to keep everything moving but not adding to the tiredness. For future reference, you might try to incorporate a cool down ride into t6he ends of your long hard rides. Either slow down and take it easy for the last few miles, or tack on extra cool down miles onto the end of your ride.