I also don't like memorization but I did find a method that worked for me after a while. I don't seem to pick up material via reading it and trying to memorize it from the page. I seem to need to write it down. So for my years in school, I would do these index cards and just do them anytime I had a free minute. This also helped me not take visual cues from the book or outline and "purely" knew the material. The process of writing down the things on an index card more fully put them in my head.