Possibly you are thinking of the "Le Passé Proche" using venir de + infinitive e.g.
"Je viens de finir mon livre" - "I've just finished my book"
It's explained here:
Expressing the close past in French using "venir de" + [infinitive] (Le Passé Proche)
Do you mean:"Viens ici!" ("Come here!")
which is the imperative form of venir?
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