Measure seat depth and width of the bench seat. Write the exact measurements down.
Decide which kind of foam is best for your project. There are several kinds including conventional closed-cell foam, visco-elastic foam (so-called "memory foam") and high resilience (HR) foam and. Most are polyurethane-based, but soy-based foam is also available at some stores. Check with your local upholsterer to find a good source. If you want a higher-end material, you may have to pay to have it cut for you. You can also get very high-end and order customized mattresses with laytex and cotton layers specified by you.
Take your measurements to the local crafts store, if you want a simple craft-type foam. Purchase the foam that feels best to you and is within your budget. Have the foam cut to your desired dimensions.
Double the width of the pad measurements (bench seat depth) and add six extra inches to fold and overlap at the bottom of the pad. Also add extra inches for the thickness of the foam. For example, if the pad is 25 inches wide (bench seat depth) and the foam is four inches thick, the width of the fabric will be 66 inches: 25 inches times 2 for two sides, plus 4 inches times 2 to wrap around the thickness, plus 6 inches for the fold and overlap on the bottom of the pad.
Add extra inches to the original pad length measurement (bench seat width) to accommodate for the thickness of the pad, plus approximately 24 inches to fold over and pin. For example, if the pad measures 60 inches wide and the foam is 4 inches thick, the fabric will be 78 inches long: 60 for the pad length (bench width,) plus 4 inches times 2 for pad thickness, plus 5 inches times 2 for the folded over ends.
Lay the fabric on a flat surface or the floor, good side down. Fold the one of the long edges over three inches and press the fold by hand to make a crease.
Lay the pad length-wise in the middle of the inside of the fabric. Wrap the fabric up over each side of the pad as if wrapping a gift box. Pull it tight and smooth. Fold the creased edge over the raw edge. Pin the fabric together with large pins.
Pinch the ends of the fabric together and fold the corners in toward the center. This creates end flaps. Fold each end flap over each end of the pad. Smooth and tuck any excess fabric under the flaps to make sharp corners. Secure the end flaps with large pins.