If you go to any camera store you should be able to buy a lens cleaning kit. I keep one in my camera bag. It's got a blub/brush for blowing and brushing dust off the lens. It also has lens cleaner and lens wipes that won't harm your lens.

Use the bulb to blow off as much as you can. Then drop one drop of cleaner on the lens and clean the lens with the lens papers. It's as simple as that.