Blot up as much urine as possible with paper towels or a clean cloth
Remove bedding and wash it separately
Mix equal parts white vinegar and water in a spray bottle
Lightly spray the stained area
Blot again with a clean cloth
Sprinkle baking soda over the damp area
Let it sit until completely dry
Vacuum up the baking soda
If odor remains, repeat the vinegar and baking soda steps
Use an enzymatic cleaner for stubborn stains or smells
Let the mattress air dry fully before putting bedding back on
Use a fan or open windows to speed drying
Avoid soaking the mattress with too much liquid