I found the quickest way to commit them to memory was to learn the differences between each one.
Start with the easiest 2:
Ionian= same as the major scale (i.e tone, tone, semi-tone, tone, tone, tone, semi tone)
Aeolian = same as the natural minor scale (i.e tone, semi-tone, tone, tone, semi-tone, tone, tone)
Then look at the variations on the minor scale:
Dorian = same as the natural minor scale except the 6th note is sharp by 1 fret
Phyrigian = same as the natural minor scale except the 2nd note is flattened by 1 fret
Locrian = same as the minor scale except the 2nd note and the 5th note are flattened by 1 fret
And the variations on the major scale:
Lydian = same as the major scale except the 4th note is sharp by 1 fret
Mixolydian = same as the major scale except the 7th note is flattened by 1 fret
Also try:
http://www.youtube.com/results?search_query=Joe+satriani+modes&search_type=and
http://www.guitar-lessons-central.com/guitar-modes.html