Google searches have suggested to me that some sort of spaced repetition should work best, keeping in mind Ebbinghaus's "Forgetting Curve". However, it is not clear to me exactly when I should schedule my learning/revision sessions, or the format the learning/revision sessions should take.
There are programs such as Anki and Memrise that purport to present revision material at an appropriate spacing, but I don't know how I can assess whether the spacing those programs suggest is truly appropriate.