This depends on whether you want to read Shakespeare (late 1500s) or Chaucer (late 1300s). By the time of Shakespeare's plays (roughly contemporaneous with the King James bible), the imperative was always the same as the infinitive.
Get thee to a nunnery.
And he saith unto them, Follow me, and I will make you fishers of men.
When Chaucer wrote, the imperative was the same as the infinitive for thou, but for you, either 'e' or 'eth' was added to the infinitive. Reference here.
Telle forth youre tale, spareth for no man,
And teche us yonge men of youre praktike.
The 'e' ending was not pronounced, and sometimes not written, before a vowel.