I write the chant out and chant it every day. I can say my daily chants (pretty much) from memory now, even when I haven't chanted in a while. Though sometimes I look at the text.
I find learning the meaning helpful in remembering also, and it is good for contemplation.
"If beings knew, as I know, the results of giving & sharing, they would not eat without having given, nor would the stain of miserliness overcome their minds. Even if it were their last bite, their last mouthful, they would not eat without having shared."