I found a decent article that explains various auditing tools, including the one you want, lastcomm
. It's part of acct package, so do:
sudo apt-get install acct
The output is very detailed, so you may want to filter on which commands were run:
$ lastcomm --command wajig apt-get
wajig tshepang pts/7 0.00 secs Tue Oct 8 22:56
wajig tshepang pts/7 0.00 secs Tue Oct 8 22:56
apt-get S root pts/7 0.52 secs Tue Oct 8 22:56
apt-get F root pts/7 0.00 secs Tue Oct 8 22:56
wajig tshepang pts/7 0.00 secs Tue Oct 8 22:47
apt-get S root pts/7 0.45 secs Tue Oct 8 22:47
apt-get F root pts/7 0.00 secs Tue Oct 8 22:47
Further info, e.g. the meaning of the fields, can be found on that article.