A typical approach is simply to use the Cantor-Bernstein theorem. That is, because we can find an injective function $[0,1] \to [0,a)$ and another injective function $[0,a) \to [0,1]$, we can deduce that the two sets must be equinumerous.
However, if we must find a bijection, one trick is to get use a bijection $[0,1) \to [0,a)$, and find a way to "sneak in" the element $1$. With that in mind: let $S$ denote the set $S = \{1,1/2,1/3,1/4, 1/5, \dots\} \subset [0,1]
$. We can define a function $f:[0,1] \to [0,a)$ as follows:
$$
f(x) = \begin{cases}
ax & x \notin S\\
\frac 1{n+1} & x = \frac 1n \in S
\end{cases}
$$
You can verify that this is a bijection between the sets.
It can be shown that there is no continuous bijection between these sets by noting that any continuous bijection from a compact space to a Hausdorff space is necessarily a homeomorphism.