A good way to get lipstick out of clothes is to put some mineral spirits or acetone based nail polish remover onto the lipstick stain.
The acetone based nail polish remover or mineral spirits will help dissolve the lipstick and lift the stain out of the clothes.
Put the nail polish remover or mineral spirits on the lipstick stain and allow it to sit for a few minutes and then use a cloth to dab the stain out.
Make sure to put something inside the clothes underneath the stain so that the stain does not bleed through to the other part of the clothes.
You can use a cloth or a piece of cardboard etc to stop the stain from going through to the other side of the clothes.
You can also use some hairspray which also works to get a lipstick stain out.
Then wash the clothes in the washing machine as normal.