Hello~Everyone's system is different. I think it would be wise to check with your GP. It seems, however, that if it made your hand sore, it might do the same or worse if you soaked in it. Again, ask the GP or even pharmacist.
Gosh, it is hard to say what is okay for one person is going to be okay for the next. My husband is the king of using hydrogen peroxide and in ways I never would. He gets horrible poison ivy and gets so desperate, he'll soak in peroxide too. Me? My skin is so sensitive it would peel off probably! But you do see a lot of anecdotal stories online of soaking in 3% hydrogen peroxide for up to 30 minutes. I'd probably run doing this again by your doctor and if you have something like a burn, get it checked. If you blister in any way, go to the doctor.