How To Prevent Razor Burns?

How do you prevent your skin from getting irritated when shaving the legs??
I just finished shaving while in the shower and now my skin is burning...
I put non-scented lotion from Curel but how do I prevent the burns from happening in the future??
I used a new razor (Venus) and regular body wash. Maybe using shaving cream instead would help or a better razor brand? Any suggestions?