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I like using Woolite. Start with about 10:1 Woolite to water ratio. Can go up to 6:1 if need be. Woolite in same ratios is a nice leather cleaner too. You could use one of those small Bissle type steam cleaner if you like
I use Autoglym Interior Cleaner. Simply spray on, aggitate with a brush, and wipe off with a microfiber. Works great on cleaning leather and vinyl too.