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If it is an indoor/outdoor mat you can spray paint it. If it is a fiber mat you can use watered down paint but if it is outside you will have to seal it.
Spray painting is good. You can also use acrylic paint. Here is a tutorial from hometalk for an outdoor mat: https://www.hometalk.com/diy/paint/exteriors/i-painted-my-back-door-mat-1143855
Like mentioned above, you will need to seal it for outdoor use so the paint doesn't wash off. I have bought spray paint sealant.
I Painted my Back Door Mat
You can paint it w/acrylic paint ( the lil 2 oz bottle size ones sold at any craft store ). When dry, protect your work by spraying it with clear acrylic spray paint. Both Krylon & Rustoleum make them.
shoe polish
I painted mine over a year ago and it looks as good today as when I did it.
I posted the project here on Hometalk
https://www.hometalk.com/posts/outdoor/rugs/worn-out-doormat-makeover-44347158
https://www.youtube.com/watch?v=ozRICP9_cmQ