Coffee is going to be tough, it will "bleed" out of the material quite a bit if it was just left to soak. Do you have access to a wet vac? I would do a normal cleaning with a damp cloth and some cleaner, and then get a spray bottle of just water and spray while simultaneously using the wet vac until the stains are done "bleeding" out of the fabric.
Just dont scrub too hard. and if after they spots dry there are still coffee marks, try to use a foam cleaner, but dont saturate it, or the stains may bleed up again.