Mix warm water with household dish soap in a large bucket. Using a clean rag, scrub the mixture into the mattress. Be sure to scrub the entire area. Let the soap sink it for about 10 minutes before using clean water to clean the entire area again. Let dry. If a smell remains, try the next step.
Mix 1 cup vinegar with a gallon of cool water. In a ventilated area or a bedroom with the windows open and a fan going, scrub the vinegar mixture into the mattress, then use clean water to scrub the mattress again. Let the mattress air dry completely and the stain and smell should be gone. If not, go to the next step.
Mix 1 cup bleach with a gallon of water and scrub the mattress. Scrub again with clean water. Let the mattress completely air dry in front of a fan and an open window to help reduce the fumes.
Put the mattress in the sun. Sun can help eliminate odors. Let the mattress lay in the sun until it is dry.
Hire someone. If none of these methods work, you may want to hire a professional steam cleaner, or rent a steam cleaning product from your local grocery store.