You either a. take it to have it valeted as they will use all the proper tools/machines etc
or b. you use off the shelf products. You'll spend hours scrubbing to no avail. It all depends how bad it is really. There's plenty out there to suit all budgets, but if it hasn't been done for a while and I mean years etc you better taking it to the above. You will not achieve a better job than using a wash/vac machine.
out of intrest is that just a beige cloth interior?
im going to hire myself one of those abolstry cleaners that you can hire to do my interior with (beige iS check) its something liek £30 for 24 hours.
if it has a steam cleaner watch it on the grab handles though saying that
yours are biege my black ones caught a bit of steam an it knackered the finish
just saying in you havent done it before thats all