Like Hindi saying the verb itself is giving a command in Marathi.

While giving the command to many people or to a person with respect; the verb is suffixed withआ ( A).
Examples will explain it better.

ये पढ ( ye paDh )
हे वाच ( he vAch )

ये पढो/ पढिये ( ye paDho/ paDhiye )
हे वाचा ( he vAchA )

उसे कहानी बता ( use kahAnI batA )
त्याला गोष्ट सांग ( tyAlA goShT sAMg )

उसे कहानी बताओ / बतायिये ( use kahAnI batAo / batAyiye )
त्याला गोष्ट सांगा ( tyAlA goShT sAMgA )

Verbs ending with आ ( A) remain as it is when giving commands with respect

आप खाइये (Ap khAiye)
तुम्ही खा ( tumhI khA )

आप जाओ (Ap jAo )
तुम्ही जा ( tumhI jA )

Some verbs which are not ending with “अ”(a); suffixing “आ (A) will create bit different form.
See below examples of दे(de), पी (pI)
पानी पी ( pAnI pI )
पाणी पी ( pANI pI )

पानी पीयो / पीजिये ( pAnI pIyo / pIjiye )
पाणी प्या ( pANI pyA )

मुझे चाय दे ( mujhe chAy de )
मला चहा दे ( malA chahA de )

मुझे चाय दो / दीजिये ( mujhe chAy do / dIjiye )
मला चहा द्या ( malA chahA dyA )

Negative Commands

To create a negative command form is:- Verb+ऊ नकोस ( +U nakos )
To give command someone with respect or case of the plural of you form is:- Verb+ऊ नका (+U nakA )

मत पढ ( mat paDh )
वाचू नकोस ( vAchU nakos )

मत पढो/ पढिये ( mat paDho/ paDhiye )
हे वाचू नका ( he vAchU nakA )

उसे कहानी मत बता ( use kahAnI mat batA )
त्याला गोष्ट सांगू नकोस ( tyAlA goShT sAMgU nakos )

उसे कहानी मत बताओ / बतायिये ( use kahAnI mat batAo / batAyiye )
त्याला गोष्ट सांगू नका ( tyAlA goShT sAMgU nakA )

पानी मत पी ( pAnI mat pI )
पाणी पीऊ नकोस ( pANI pIU nakos )

पानी मत पीयो / पीजिये ( pAnI mat pIyo / pIjiye )
पाणी पीऊ नका ( pANI pIU nakA )

मुझे चाय मत दे ( mujhe chAy mat de )
मला चहा देऊ नकोस ( malA chahA deU nakos )

मुझे चाय मत दो / दीजिये ( mujhe chAy mat do / dIjiye )
मला चहा देऊ नका ( malA chahA deU nakA )

Listen examples in this lesson

Giving commands very formally

In a public function or formal program, the host of the program says “May I request you to to come on the stage”, “May you please inaugurate the project”.
Or on the government forms or other formal applications, we find instructions. “Write your name here”, “Sign here” etc.
These are the cases of giving instructions very formally.

It is discussed in a separate lesson: Giving instructions formally

Some verbs which are not ending with “”(a); suffixing “ ( A) will create bit different form. I have enlisted a few frequently used verbs and their forms here.

English VerbMarathi VerbCommand in
Marathi
Command in Marathi
( with respect )
Negative command
in Marathi
Negative command in Marathi
( with respect )
To becomeहोणे(hoNe)हो(ho)व्हा(vhA)होऊ नकोस (hoU nakos)होऊ नका (hoU nakA)
To washधूणे(dhUNe)धू(dhU)धुवा(dhuvA)धुवू नकोस (dhuvU nakos)धुवू नका (dhuvU nakA)
To drinkपीणे(pINe)पी(pI)प्या(pyA)पिऊ नकोस (piU nakos)पिऊ नका (piU nakA)
To goजाणे(jANe)जा(jA)जा(jA)जाऊ नकोस (jAU nakos)जाऊ नका (jAU nakA)
To Eatखाणे(khANe)खा(khA)खा(khA)खाऊ नकोस (khAU nakos)खाऊ नका (khAU nakA)
To giveदेणे(deNe)दे(de)द्या(dyA)देऊ नकोस (deU nakos)देऊ नका (deU nakA)
To takeघेणे(gheNe)घे(ghe)घ्या(ghyA)घेऊ नकोस (gheU nakos)घेऊ नका (gheU nakA)
To liveराहणे(rAhaNe)रहा(rahA)रहा(rahA)राहू नकोस (rAhU nakos)राहू नका (rAhU nakA)
To comeयेणे(yeNe)ये(ye)या(yA)येऊ नकोस (yeU nakos)येऊ नका (yeU nakA)
To singगाणे(gANe)गा(gA)गा(gA)गाऊ नकोस (gAU nakos)गाऊ नका (gAU nakA)
To writeलिहिणे(lihiNe)लिहा(lihA)लिहा(lihA)लिहू नकोस (lihU nakos)लिहू नका (lihU nakA)
To seeपाहणे(pAhaNe)पहा(pahA)पहा(pahA)पाहू नकोस (pAhU nakos)पाहू नका (pAhU nakA)

Exercise

Try creating sentences with different verbs using above rules. Crosscheck them by creating same by “verb forms” feature on https://learnmarathiwithkaushik.com/