Scuff marks happen when rubber is pressed and then slid across a surface. Scuff marks are common on the floors of sports arenas because rubber soled shoes are constantly dragging on the surface. In your home, scuff marks occur on wooden furniture if someone kicks it or slides a rubber mat or a tray with rubber pads on it across the furniture. Use products that won't damage wood floors to remove these scuff marks.
Rub a tennis ball over the scuff mark using heavy pressure. The scuff mark should transfer from the furniture to your tennis ball. Rotate the ball and continue rubbing until the scuff mark is gone or until you can't remove any more of it.
Rub an eraser over the scuff mark. Erasers are often all you need to remove the mark residue, but they may not work on dark stains or stains that have been on the wood furniture for a long time.
Spray an all purpose cleaner on a terry cloth. Terry cloths have a raised nap that will help work away stains without scratching furniture or damaging the finish. Rub the cleaner into the wood furniture with the terry cloth until the scuff mark is gone.