Cleaning pavers that have pet urine stains.

I have a section of pavers in my yard that is in need of being resealed. When it was originally installed 3 years ago, I immediately sealed it. It is a high traffic area and appears to need a new coat of sealant. My question is, what is the best product/ technique to use to clean these pavers? There are certain areas where my dog urinated that will need to be cleaned thoroughly first. What should I use? I have heard diluted white vinegar will do the trick. Any other suggestions?