Seam repair.
Need a curved needle like this. This is small one. Bigger ones are easier to handle. Get from any sewing notions place. Walmart? Maybe.
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Come in a pack like this.
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You will also need some nylon, or poly/cotton thread. Don't use the stuff for clothing. It's not strong enough, & it won't take the abrasion from being pulled through the material. That'll break before the job's even done.
If you have an upholstery shop in town, (auto or furniture, don't matter) you could get some thread from them. The thread that they use in their machine is the right stuff. You'll probably only need about 10' or so. They might even have a curved needle that's a bit larger, that they'd sell ya.
Fold the thread in 1/2, & thread the needle like this. I do that this way so that the thread stays in one spot on the needle & isn't working back & forth inside the needle's hole. That can cause the thread to break if you have to pull really hard.
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Tie 3 or 4 knots in the end of the thread. No pic, but, trim the tail off so that about only 1/4 of an inch of thread is left behind the knots.
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Just some scraps I had laying around, that had a seam, so I ripped it apart a bit for demo. I didn't start at the end of the broken part, just cause this is a demo!
Now, reach in behind the seam. There's a seam allowance from where it was sewn before. It'll appear as a folded back piece. Thread the needle through that so it comes out a bit past where the seam has let go. You're coming from behind & pushing the needle out the front so that the needle is exposed, very close to the seam.
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Pull the thread so that it's at a 90* angle from the material.
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For the next stitch, you want to take it back a bit from where the thread lines up at the 90*.
This shot shows the theory, but is a bit exagerated for demo purposes.
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This shows the length of the stitch you can use. This is about 1/2" but you could go to 3/4" if you wanted to. Not much bigger, though, otherwise you'll end up with gaps in the stitching & the foam will still be visible.
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This shows what you're aiming for. Again, this is exagerated for demo. You only have to come back approx. 2 or 3 times the width of the needle.
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Onto the next stitch on the other side. Again, taking the stitch just back of the 90*.
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There ya go! Carry on this way until the whole seam is stitched, pulling the thread tight as you go.
This is what it should look like when it's done. I only stitched the area between the chalk marks.
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To finish. Sew a couple of times in the same spot. What you're doing is looping the thread in the same spot, through both materials. At least 2X. this causes the thread to hold onto itself in that one spot, locking the stitching in place. Trim the thread off as close to the material as possible.
This is a bit time consuming, & it can be hard on the fingers. But it's virtually free!
Hit me up with questions if you have any.
Good luck!