How to say 'Come here', in Spanish: Ven aqui. That literally means 'come here'. You try it. Very good. It's friendly; so if you want to say something like, "Come here, I want to talk to you," you would say, "Ven aqui, quiero hablar contigo." You try it. Repeat after me: Ven aqui, quiero hablar contigo.
If you want to be more formal, you can also use a different tone. You can also say, "Ven aca." Repeat after me: Ven aca. If you want to be even more formal and serious with your tone in Spanish, you could say, "Venga aqui," or "Venga aca." The word there is 'venga'. Repeat after me: Venga. Venga aqui; try it. Now try the other one; venga aca.
These are just 3 different ways to say 'Come here', in Spanish.