Make flash cards with 'か' on front 'Ka' on back. Practice looking at the front and pronouncing, and looking at the back to write. Go row by row (かきくけこ->さしすせそ)until you can do all of them. Add to the deck as you go. Your goal is to be able to pronounce/write any kana at random. Simply writing them over in order creates patterns that makes it too easy for actual reading. Also say each kana out loud as you practice, even when writing.
When you have a good grasp of hirigana hit a textbook and never use romaji ever again. Learn katakana with the same steps as you go.