You have two options here. Both are fairly popular, so it's up to you which you choose.
The first is to define your helper module in the scope of your application module's parent:
var helpMod = (function(){
return {foo:"bar"}
})();
var appMod = (function(){
console.log(helpMod.foo);
})()
And the second is to directly import the module as a parameter to the closure function:
var helpMod = (function(){
return {foo:"bar"}
})();
var appMod = (function(h){
console.log(h.foo);
})(helpMod);
Direct imports are more explicit, but taking advantage of scoping can be easier - so long as you're comfortable with that variable in the global scope!