The Ape Escape exploit is for hacking the PSP side only.
Rejuvenate is for 3.51 and lower, and only requires the email exploit on your Vita, the rejuvenate 0.3.4 package found at
http://yifan.lu and the PSM+ setup page (contains clear installation instructions) found at
http://hackinformer.com/psmplus
You will also need to have installed the PSM Dev for Unity app onto your Vita via the email exploit before-hand.