Let the leather soak in warm water until it is spongy. Wipe off the excess water and let the leather sit for a few minutes, until the surface is no longer looks wet.
I have a celtic stamp set with several heads that snap onto a handle. I photo shows a regular hammer, but you should use a hammer or maul designed for leather working. Steel hammers will damage the tools. Hold the design part of the stamp in place to reduce chatter (multiple impressions because the stamp moved). Hit the handle hard several times. You want to make sure the whole stamp image is impressed into the leather.
Let the leather dry completely before dying.
Wipe the dye over the leather except for the stamped area. Once the color is even, lightly wipe the dye over the stamped area. The image stands out best if the impressed area is either lighter or darker then the rest of the leather. The more you work it the more even the stamped area's color will be. For more precise control, use a Testors micro sponge hobby brush to touch up and darken small area around the stamped image.