You can do this perfectly well at home if the shoes are leather.. I'm always scuffing my heels. Buy a bottle of shoe leather toucher-up (or whatever it's called). The bottle normally has a little brush in the lid just like nail varnish and you shake the bottle and paint the scuffed part of jthye heel.
The good thing about cleaning up scuffed heels is that if there are still some marks remaining which can't be covered up, they're normally so low down on the ground that people rarely notice.