What is command form of listen in spanish?

There are five command forms (imperatives) depending on the situation.

The base verb is "escuchar"

You can say "escucha" or "escuche" if you are speaking to one person. The second form is more formal and respectful. People from Argentina may say "escuchá"

If you are speaking to a group of people you might say "escuchad" or "escuchen"

The latter form is more commonly used. Escuchad is normally only heard in Spain.