A natural bijection for contiguous pattern avoidance in words

Two words $p$ and $q$ are avoided by the same number of length-$n$ words, for all $n$, precisely when $p$ and $q$ have the same set of border lengths. Previous proofs of this theorem use generating functions but do not provide an explicit bijection. We give a bijective proof for all pairs $p, q$ that have the same set of proper borders, establishing a natural bijection from the set of words avoiding $p$ to the set of words avoiding $q$.