@Robodog
Yes, there is a command to forgive.
However, there is another command that most people forget. "When you bring your gifts to the altar and remember your brother has ought against, lay your gift aside and go be reconciled to your brother then you can return and give your gift"

God isn't interested in our piety when we have broken relationships that need to be restored

Karl hit on the first two steps to reconciliation. Genuine Repentance and restitution. So being reconciled doesn't happen by saying a few words. Being reconciled means having trust restored so a relationship can go forward. That may take years.