Start by scrubbing the rust lightly with a wire brush. Scrub hard enough to remove any rust flakes, but be careful not to scratch the paint (unless the rust is so bad that the furniture needs to be repainted).
If there are rust spots but no scale, dip a very fine steel wool pad in kerosene and brush away the spots. Wear safety glasses and rubber gloves when handling kerosene and work well away from open flames.
If rust has developed at the furniture joints, it may be easier to disassemble them and work with smaller pieces.
After removing the rust, coat the furniture with liquid wax, available at most automotive stores. The wax will help protect the finish from further oxidation.
Serious rust problems can be treated with naval jelly, which dissolves rust. Some products turn the rust into a primer so the metal can be painted later.