How do I get rid of the odor in my car?

I just bought a used car & there was a slight musty/dingy odor to it, then my dad left the windows rolled down over night during a storm and now there is a DISGUSTING smell that is very noticable when I drive, especially after it's been sitting out in the sun. Should I use a rug doctor? If not what products can I use to scrub out or clean the upholstery while getting rid of the smell?