Check with upholstery shops and used car dealers in your area, there are mobile vans that specialize in this kind of repair in many areas. It's a rather simple process but I doubt that you'll find an exact match with a single can. If you want to try it yourself do a Google search on 'vinyl dye'.
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Jon & Chris Everton
1986 40' Dog House #86
0 hp 8V92 Allison HT740
Soon to be 500hp ISM with ZF 6 Speed
Order a touch up kit online for a few dollars. Read the reviews and feedback on the product and follow the directions. If in doubt have an upholstery shop do it for you like MrE suggested.
I had some problems getting colors just right a few years ago when trying to do a touch up. I ended up having a interior expert fix it and they got it so close no one can tell it was a problem area. If you did decide to do it yourself and it doesn't turn out right you can always hire a professional to do it.