כַּאֲשֶׁ֥ר עָשָׂ֖ה בַּיּ֣וֹם הַזֶּ֑ה צִוָּ֧ה יְהוָ֛ה לַעֲשֹׂ֖ת לְכַפֵּ֥ר עֲלֵיכֶֽם׃
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Rashi
צוה ה' לעשת [AS HE HATH DONE THIS DAY, SO] THE LORD HATH COMMANDED TO DO all the seven days). But our Rabbis explained as follows: לעשת, “so hath the Lord commanded to do” — this refers to the “Red Heifer” (Numbers ch. XIX.); and לכפר, “to perform a cleansing ceremony” — this refers to Yom-Kippur. And thus these words, they say, are intended to intimate that the High Priest requires separating from his family during seven days before Yom-Kippur, and similarly the priest who burns the Red Heifer (Sifra, Tzav, Mechilta d'Miluim 1 37; Yoma 2a; Yoma 3b).
Ibn Ezra
That which was done this day God commanded Moshe to do what he had done this day throughout the seven days of installation. Moshe should have said, “that which I have done”; but Hebrew often abruptly changes from the first person to the third person (as in, “Ezekiel shall be a sign for you” [Ezekiel 24:24]; “…and Yiftaḥ, and Samuel” [I Samuel 12:11]). God has commanded Where was this made explicit? In the passage “Thus shall you do for Aaron and his sons, according to all that I have commanded you, for seven days…” [Exodus 29:35], and furthermore, “You shall offer a bullock as a sin-offering by day” [Exodus 29:36] (the phrase “by day” here means “day by day”, as in “two daily: this is the perpetual burnt-offering” [Numbers 28:3]). Scripture continues with the words “you shall sprinkle the blood of the sin-offering … and anoint it” [Exodus 29:26] — this is to be done daily, until the end of the consecration period — and finally “Seven days you shall perform atonement on the altar” [Exodus 29:27]. Notice that this passage employs brevity, and does not explicitly mention the two rams. Many people consequently arrived at the opinion that only the bullock sacrifice was repeated throughout the seven-day period. However, I believe that Scripture singles out the bullock sacrifice because the upcoming passage deals with the sanctification of the altar. The ram burnt-offering provided blood which was sprinkled on Aaron and on his sons, while the second ram provided meat to be eaten; but only the bullock sin-offering secured atonement for the altar. For this reason, the bullock offering is described “with atonement” [Exodus 29:36] — i.e., for the sake of atonement.
Rabbeinu Bahya
כאשר עשה ביום הזה צוה ה' לעשות לכפר עליכם, as he did on this day, the Lord commanded to be done to provide atonement for you.” Our sages in Yuma 2 interpreted these words to mean that the day referred to as ‘this day” was the eighth day of the consecration rites; G’d referred to the seven days the Priests had observed prior to that day. The lesson is that the procedure involving the red heifer which needs to be isolated for seven days before it is burned is derived from a similarity in the Torah’s expression (גזרה שוה) i.e. the word צוה used both here and in Numbers 19,2. [Such comparisons have halachic significance only when the word itself is not necessary in the context in which it appears. Ed.] Here the Torah (repeated) the words צוה ה', something which we knew already; in Numbers too it was clear without these words that G‘d had commanded the procedure. The additional words לכפר עליכם, “when arranging atonement for you,” refer to the Day of Atonement procedures prior to which the High Priest is to isolate himself as stated in Yuma 2. He leaves his private residence and takes up quarters in an office adjoining the Sanctuary just as he does for seven days prior to the burning of the red heifer (compare Parah 3,1 and quoted in Yuma 2). The meaning of our verse then is: “this day on which the High Priest is instrumental in obtaining atonement for the people has been preceded by seven days of isolation” (and spiritual preparation for that eighth day).