
Jacquelyn L. answered 09/11/20
Enthusiastic and Patient Latin and English Tutor
If you're commanding more than one person: nolite dubitare, nolite haesitare
If you're commanding one person: noli dubitare, noli haesitare
Although, in truth, haesitare means both to hesitate and to falter, so a Roman would probably only use one of these verbs (dubitare or haesitare). Latin has a much smaller vocabulary than English, so the words tend to have a broader range of meanings.