I want to help!
It's encouraging how many people come by the github site or mailing list who just say "I love JUnit, how can I help"? If you have a specific idea, please come by the mailing list at junit@yahoogroups.com, and let's chat about it.
If you're just wanting to contribute some time, here's some ways to get started:
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Find an issue to work on. Start with the issues labeled lowhanging, which are tasks that we have explicitly guessed are unlikely to get bogged down in project controversy or design debates.
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If nothing looks reasonable there, go all through the issues, and see if there's any that tickle your fancy. I'd strongly recommend pinging the issue with a little "hey, is this a good idea" before digging in--we will see it, and usually respond quickly.
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We're still catching up with documentation at the wiki. If there's anything you can think of to add (Getting started could use some pointers to "next steps", for example), that might help the community more than additional code.
The basic steps for creating a pull request are explained in CONTRIBUTING.md. More difficult parts of pull requests are documented at the Pull Requests wiki page.