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Is the first of the 10 Commandments considered a mitzvah?

I realize that the English translation of עשרת הדברים / דברות is better translated as "Ten pronouncements" rather than "10 Commandments". However, in viewing the text, 2 - 10 seem to be commanding some action (e.g. "Don't have any other gods; respect your parents, etc.)

The first one, "I am your G-d who took you out of Egypt..." doesn't seem to command anything. It seems more like a statement of fact or history.

Does anyone (Ramban, Rambam, etc.) count this as a mitzvah / "commandment"? If so, how do they consider this a commandment of there is no "verb" or directive to do anything as the other 9 have?