Yes, we do have that command. The difference now being in how it gets fulfilled. Same for other laws. For example, laws of sacrifice. When we believe in Christ we are fulfilling the lawful requirement for sacrifice for sin, not casting it away and trampling it underfoot as most in the church believe. When we believe we are fulfilling the lawful requirement for entering into Sabbath rest, not casting it away. So, since these lawful requirements are marked 'fulfilled' on our heavenly account and satisfied to God's complete satisfaction there is no need to continue to literally do them according to Moses. There is no reason to seek to do through the literal law of Moses what has already been done for us by Christ through our faith.