You must take the bearing apart and clean it. Wiping the contaminant from the area will not be enough. Anything less than a perfect cleaning will reult in a failed bearing further down the road.
Seals are considered consumable. If you can remove the seals without damaging them and they don't have a lot of miles on them, you can reuse them. I couldn't remove the seals from my car without ruining them, so I bought new ones. Poor sealing results in failed bearings.
Grease must be a lithium-based NLGI 2, rated for elevated temperature use, and have EP additive. Mobil 1 synthetic is a good choice.
Lastly, make sure you set the preload properly.
Don't skimp on your bearing service. They can be nothing less than perfect. Cutting corners or doing improper maintenance (such as dirty grease, poor sealing, poor lubricant choice, improper preload) will result in a bearing that fails prematurely.
Do a search on wheel bearings on this site. Much has been written on maintenance.
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95 E320 Cabriolet, 169K
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