You may have corrupt sessionstore [v56] sessionstore.jsonlz4 file(s). Delete all sessionstore* files and the sessionstore-backups folder.

Type about:support<enter> in the address bar.

Under the page logo on the left side, you will see Application Basics. Under this find Profile Folder. To its right press the button Show Folder. This will open your file browser to the current Firefox profile. Now Close Firefox.

Windows: Show Folder; Linux: Open Directory; Mac: Show in Finder

Linux: Under the page logo on the left side, you will see Application Basics. Under this find Profile Directory. To its right press the button Open Directory.

Locate the above file. Then rename or delete it. Restart Firefox.

Don't delete the files if you need to rescue any data from them, just move them out of the profile folder to some location where Firefox doesn't look for them. You can try to read out their contents using this tool: https://www.jeffersonscher.com/res/scrounger.html

You may be in Private Browsing mode or told Firefox not to remember.

Type about:preferences#privacy<enter> in the address bar. The button next to History, select Use Custom Settings.

Turn off Always Use Private Browsing Mode Turn on Remember My Browsing And Download History At the bottom of the page, turn on Clear History When Firefox Closes. At the far right, press the Settings button. Turn on ONLY Cache and Form And Search History leaving the others off.

Macs: Make sure you install Firefox properly and that you do not run Firefox from within the DMG (Disk Images) file. https://support.mozilla.org/en-US/kb/how-download-and-install-firefox-mac

On Mac closing Firefox can be more complicated because you can close all open windows, but keep Firefox running with the menu bar visible or minimized in the Doc.

Make sure you Quit Firefox with all windows still open (Firefox -> Quit Firefox). Otherwise you can check "History -> Restore Previous Session" and "History -> Recently Closed Tabs/Windows".