A possible correct answer could be: <em>"No limpies la mesa." </em>(In this sentence, the verb is conjugated in the imperative form for the 2nd person singular "tú")
Explanation:
In Spanish, there is a conjugation column for imperative verbs (in this case expressed in the question as "command"). The sentence you elaborated used the infinite form of the verb, the one ending in "ar", "er" and "ir".
