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It should be Dunkelgeb with optional camouflage in Olivgruen and Rotbraun. However, you are probably after some paint mixes, in which case I'm probably going to disappoint you, as I don't have mixes for all these colours. In fact it is something of a holy grail for modellers!
As a good start, you could try this mix for Humbrols of 1x84, 1x110 and 1x34 for Dunkelgelb. It is based on work done by Esa Muikku and Jukka Purhonen, two Finnish modellers who based it on examination of numerous undamaged and unweathered artefacts in their original paint.
The other two are less easy, not least because at that time they were mixed at unit level and applied in the field (later schemes were factory-applied). This does not, in my view, mean that oyu can slap on any old green and brown as the original pigments were no doubt subject to the same strict quality control that seems to have plagued Waffenamt in other areas. However, it does allow some latitude.
David Byrden suggests Xtracolour 806 for the green (albeit it should be perhaps a little lighter and yellower).
With any luck, some kind soul has spent time doing original research into this question and will respond - otherwise we may all still be waiting for the Jentz/Doyle book on the subject when it appears later this century....