[Tyler]

They way I learned Hiragana was to practice, practice, practice. The more you write them and read them the better you will remember them.
When I first started learning Japanese I wrote lines of the characters, much like an elementary school student would learn how to write english characters.
My Japanese Professor uses pictures that somehow incorporate the Hiragana or Katakana character in them (for example the Hiragana for NU looked like a noodle). This seemed to work for a fair amount of people so maybe you could try finding something like that.

I recommend writing the characters because when you do, you are not only learning how to write them, but you are also learning how to recognize them at the same time.