It is worth noting that velour fabric is very similar to painting velvet fabric so you can use the tips in this tutorial for either kind of upholstery fabric.
Once the first coat was fully dry I lightly sanded the roughness off the top with a sanding sponge where the paint was sitting on the pile of the fabric.
The fabric is a little stiffer than originally was but not hard, paint will obviously alter the fabric structure. I am sitting comfortably on this chair as I type.