• Basic forms
• 刺す — stab; prick / base form
• 刺します — stabs; pricks / masu form
• 刺した — stabbed; pricked / ta form
• 刺して — stabbing … / te form
• 刺さない — do not stab / negative
• 刺せば — if (one) stabs / conditional
• Common expressions
• 針で指を刺す — prick one’s finger with a needle
• 蚊に刺された — was bitten by a mosquito
• 胸を刺す言葉 — words that cut deep

刺す（さす） is a godan transitive verb. It refers to piercing with a sharp object, and is also used metaphorically for sharp words or emotional pain.

• Basic forms
• 刺さる — be stuck; pierce / base form
• 刺さります — is stuck; pierces / masu form
• 刺さった — got stuck; pierced / ta form
• 刺さって — being stuck … / te form
• 刺さらない — does not stick / negative
• 刺されば — if (something) sticks / conditional
• Common expressions
• とげが指に刺さる — a thorn gets stuck in one’s finger
• 彼の言葉が心に刺さった — his words struck home

刺さる（ささる） is a godan intransitive verb. It focuses on the result — something becoming lodged or having a strong emotional impact.