Here are two ways
http://www.goodhousekeeping.com/home/stain-buster/stains-mascara-may07
Carpet
1. Using a clean white cloth, sponge the stain with a dry-cleaning solvent.
2. Blot until the solvent is absorbed.
3. Repeat Steps 1 and 2 until the stain disappears or is no longer absorbed into the cloth.
4. If the stain remains, mix one tablespoon of liquid hand dishwashing detergent with two cups of warm water.
5. Sponge the stain with the detergent solution.
6. Blot until the liquid is absorbed.
7. Mix one tablespoon of ammonia (Caution: Never mix chlorine bleach and ammonia - the resulting fumes are hazardous) with 1/2 cup of water.
8. Sponge the stain with the ammonia solution.
9. Blot until the liquid is absorbed.
10. If the stain remains, mix one teaspoon of white vinegar with one cup of warm water. Sponge the stain with this solution. Blot until the liquid is absorbed.
11. Sponge with cold water and blot dry.
Or if you don't want to use the ammonia:
http://www.pioneerthinking.com/stainremovers.html
Cosmetics (mascara) - Stain Removal on Carpet and Upholstery
1. Sponge with a small amount of dry-cleaning solvent. Blot. (Use small amounts to prevent any possible damage to sizings, backings, or stuffing materials. Do not use gasoline, lighter fluid, or carbon tetrachloride).
2. Mix one teaspoon of a neutral detergent (a mild detergent containing no alkalies or bleaches) with a cup of luke-warm water. Blot.
3. Sponge with clean water. Blot.