Pour several drops of a solvent, such as ispropyl alcohol or acetone, on the lipstick stain. Allow it to penetrate the stain for several minutes.
Rub the stain gently with a clean toothbrush, using light pressure and a slow, circular motion. Apply several more drops of solvent to the lipstick stain.
Dab the stain with a pad of cheesecloth until most of the lipstick is absorbed. Repeat solvent application and dabbing with fresh cheesecloth until the stain is lifted.
Launder the velour garment as normal, or according to the care instructions listed on the tag. If you are removing the stain from velour upholstery, refer to your vehicle's owner's manual for more information regarding washing or spot treatment.