My yoga mats are always out to use. I do yoga outside, inside and with my dog. :) they get used and dirty.
To clean, combine distilled water, vinegar, an essential oils to a spray bottle.
Spray the mat and let the cleaner soak in for a couple of minutes. Scrub with a washcloth. Lay out to dry before using.
Much better! My yoga and pilates mats now smell clean and fresh.