Sore and achy wrists and elbows are normal for new lifters, but be smart and make sure you're not doing something to cause strain - any soreness should abate after a few weeks as your joints get conditioned. If the soreness persists, it's likely there's a problem somewhere.
Saying that they feel better after a few reps also suggests that it's at least partly an issue of needing to warm them up adequately before you start training.
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