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You don't say what the stain is, most car accesory shops sell a foam based cleaner which comes in an aerosol can, should remove most stains, always test an area of material which is not so visible first in case your material isn't colourfast (should be though)
If the stain is tar or oil then you'll need a solvent based cleaner which should definetely be tested first on an area which is not visible.