MongoDB::command is used to send raw database commands to the server. For most common commands, you will find a wrapper in your language library.
Here, given your description, you need Collection::find instead. something like that (untested -- beware of typos):
$m = new MongoClient();
$db = $m->selectDB('test');
$collection = new MongoCollection($db, 'thing');
$regex = new MongoRegex("/^\/2e3r4t\//");
$collection->find(array('path' => $regex));
Amusingly enough, as of MongoDB 3.0.2, the find command is not documented, and apparently is not yet implemented as a DB command:
> db.runCommand({find: "w"})
{ "ok" : 0, "errmsg" : "find command not yet implemented" }
So, for this one, you will have to rely on the corresponding method of your driver.
EDIT: from a quick look at the sources, the find command was implemented between 3.1.0 and 3.1.1: