You can do a number of different options. I have heard of people using baking soda, this is a less expensive way. If you do not see results in about two weeks I would try a teeth whitening kit from your dentist.
The best way is to have them professionally cleaned by a dentist or hygienist. Try then to minimise staining. Add milk to your coffee or even better - avoid altogether
A carbamide peroxide tooth bleaching solution may work best. Dentists carry them in 10% and 15% varieties. Many over-the-counter solutions also work, when used regularly, including baking soda.