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The best way to help out is to volunteer to lead or help with one (or more) of the development projects listed under the What are the Plans for Integrating the DSpace Application with the Fedora Repository Platform? question.
As you can tell, several initiatives have already gotten underway. If you want to help out with one of the existing initiatives, contact the person(s) in charge or send an email to dspace-devel listserv. If you'd like to lead a new initiative (which hasn't yet started), please announce your initiative on dspace-devel listserv so that we can send other volunteers your way!
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This initiative is actually an extension of the DSpace 2.0 investigation work that took place in 2009.
The goal of the DSpace 2 work was primarily to modularize DSpace, and Fedora as one of those modules just makes sense. The DSpace 2 work, along with recent Google Summer of Code projects (in 2008 and 2009), have helped us to more closely realize how DSpace and Fedora could be integrated.