Please do not worry. Once you get soap in your eyes, you should wash it out as soon as possible. And then wipe it gently using a dry towel. You must not rub your eyes with your hand. As you described, you have rubbed your eyes for 3 minutes and now the eyes become red and irritated. I guess you got an inflection. You need using some medicine or drops. A few common anti-inflammatory drops will take effect. I advise you to go to the pharmacy to get some drops and in the future try to avoid this case.
If you wash your eyes thoroughly with clean water intermediately, you will be fine. Don't worry, it will recover a few days. And the redness of eyes is just a natural reaction. Nevertheless, this is situation is also depending on the soap you use. If you feel very terrible of your eyes and worry about it, you'd better see a eye doctor for sure.