You can remove furniture marks by steaming the area with your steam iron (careful!) lightly and roughing up the dent with your fingers.

also, an ice cube will do the same, I have heard. I usually just give it a few days and then fluff with my fingers.

Thank you both!

Oceanna - I had a heavy wrought iron and glass coffee table in my living room and when we rearranged the furniture we had to deal with 4 dents in the wool carpet. We tried the ice cube trick, steaming with the iron and even sent it out for cleaning. The dents have diminished a little but they are still very obvious.
The carpet is also a solid blue, perhaps it would be less noticeable on a pattern.