If you just try gluing, it's going to come off anyway due to the foam backing on the vinyl cover. What happens is you end up gluing the foam and it separates from the vinyl creating a big mess.

This is what I did on mine: Remove B-pillar (you will need to disconnect seatbelt at the floor). Carefully peel off vinyl covering. Use sewing machine to stitch a 1-inch strip of scrap fabric all the way around. Fabric is readily available from any fabric store, or even the Wal-Mart sewing section. If you don't have access to a sewing machine, you can stitch the fabric by hand. The stitches will be easily hidden after you reinstall the vinyl. To reinstall, stretch the vinyl over the plastic pillar, wrapping around tightly and using hot glue to secure the fabric to the plastic. Do one side first, allowing a couple minutes for it to dry completely, then pull tight on the other side and glue down.

My pillar still looks great and no signs of peeling.

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08 W251 R350
97 W210 E320
91 W124 300E
86 W126 560SEL
85 W126 380SE Silver
85 W126 380SE Cranberry
79 W123 250
78 W123 280E
75 W114 280