get a cloth, dampen it with a mix of water and liquid fabric softener, and wring it out until it's as close to dry as possible. Gently swipe it over the area you want to remove the fur from.
As well, use a spray bottle and gently mist your furniture with the same mixture. This will remove static and keep fur from sticking as badly.
A daily brushing for kitty will also help keep her from shedding as much into your house and is a good bonding activity.