Blot up as much urine as possible with paper towels or a clean cloth
Press firmly and replace towels until the area is mostly dry
Mix a solution of equal parts white vinegar and water
Lightly apply the solution to the stained area
Blot again with clean towels
Sprinkle baking soda over the damp area
Let it sit until completely dry
Vacuum up the baking soda
If odor remains, use an enzymatic pet cleaner according to the label
Repeat as needed until the smell and stain are gone