Try running your hands across the velour to remove the wrinkles from the fabric; whether or not this works is dependent on how badly your furniture is wrinkled.
Use a steamer to remove the wrinkles from the material. Steam is the safest way to remove wrinkles from velour. Place the steamer as close to the velour furniture as you can without actually touching the material with the head of the steamer. While other materials require the head of the steamer to touch the fabric you cannot touch velvet or velour with the head without damaging it. Run the steamer back and forth across the furniture until you no longer see wrinkles.
Iron the furniture if you can. Remove the velour covering from pillows or cushions and turn the fabric inside out to iron it on the medium setting.
Remove velour coverings from cushions and pillows and place them in the dryer for a few minutes to remove wrinkles.