Here we describe a dual-spacecraft flyby mission to the Potentially Hazardous Asteroid named Apophis, an Empire State Building-sized small body that will make an extremely close pass by the Earth on April 13, 2029. The mission is called Janus Apophis Pathfinder, with 'Pathfinder' being used because the mission will encounter Apophis up to a year before it's 2029 Earth flyby, feeding-forward useful scientific data about the asteroid to other missions that will encounter it in 2029. The mission demonstrates an innovate membership-based mission model for deep space robotic exploration by bringing together emerging universities, research institutes, companies, and space agencies that are seeking relatively low-cost, rapid ways to increase their space mission experience.