Assure is something you do to a person, a group of people, or an animal to remove doubt or anxiety, as in Squiggly assured Aardvark that he'd come to the party early. You can remember that assure can only be used with things that are alive (and both assure and alive start with a). Only things that are alive can feel doubt or anxiety, so only they can be assured.
Ensure is something you do to guarantee an event or condition, as in To ensure there'd be enough food, Aardvark ordered twice as much food as last year. You can remember that guarantee has those two e's on the end to help you remember that to ensure (with an e) is to guarantee something.
Insure can be done to a person, place, or thing, but it's reserved for limiting financial liability, most commonly by obtaining an insurance policy, as in Aardvark wondered if the caterers were insured against loss. You can remember that we take out insurance to protect our income if we become unemployed, disabled, or injured in an accident. Both insure and income begin with -in.
Google is your friend :0 :)
ps - even a company with "assurance" in their name: The XYZ Assurance Company, insures people/things....