WPF - Custom Control + ICommand (How do I Implement this)?

Question

Basically, I have a custom control FooControl.

public class FooControl : ItemsControl
{
    //Code
}

I need to add some event handling, but rather than using a RoutedEvent I'd much more prefer to use Commanding instead. I'm not really sure how to go about doing this though. If I want it so that when Bar1Property (DependencyProperty) changes it raises the Execute associated execute property. I looked at the ButtonBase code through .NET Reflector and wow, that looks overly complicated. Is adding a command this complex?? Obviously I'd also have to make it so that my control enables/disables certain parts of itself depending on if the CanExecuteChanged is altered or not. But I guess that's another portion.

Here is my OnBar1Changed function so far...

    private static void OnBar1Changed(DependencyObject obj, DependencyPropertyChangedEventArgs e)
    {
        FooControl element = (FooControl)obj;
        //What to do here?
    }