"You shall teach them diligently to your sons and shall talk of them when you sit in your house and when you walk by the way and when you lie down and when you rise up." (Deuteronomy 6:7)
The literal commandment is that we should teach G-d's commandments diligently to our children. However, in order to be able to teach the commandments we have to learn them first.
"Now therefore, write this song for yourselves, and teach it to the sons of Israel; put it on their lips, so that this song may be a witness for Me against the sons of Israel." (Deuteronomy 31:19) The literal commandment is that we should write the song of Moses" (Deuteronomy 32:1-43) for ourselves.