Hi Alex,
It is a bit hard to know what you are trying to achieve without further details. Try to provide some examples of what you have done and exactly what you want to do (add code and formulas if possible). When you sat "commutator for the covariant derivative" are you talking about the curvature on a vector bundle? If so, you can use
DefManifold[M, 4, {a, b, c, d, f}]
DefVBundle[inner, M, 5, {A, B, C, D, F}]
DefCovD[CD[-a], inner]
That would define the FRiemann tensor which might be what you are looking for.
Best,
Juan