It depends on wear it is stained. On the face, just use a makeup remover cloth. A few wipes should take care of the problem. If it is in clothing, try using a "stain stick" or whatever pre-treatment you usually use to help work the color out.
You can remove lipstick stains with makeup remover if it's on colored clothing. If it's on white clothing you can use bleach. If you get lipstick on your skin, it comes off easily with soap and water or baby oil.
Lipstick stains can be tricky to remove from your clothing but sometimes dishwashing detergent or even dish soap will work if you scrub the area with it. You can also try alcohol or amonia.
The best way to do that is to go out and buy dry cleaning solution. You will then want to follow the directions on the bottle. You can also take it to a dry cleaner and have them remove it.