Spanish grammar books will tell you to use vayamos for nosotros commands - but no one does. In everyday speech and writing, the shortened forms of vamos and vámonos are almost always used for both affirmative and negative nosotros commands.

¡Vamos! = Let's go!

¡Vámonos! = Let's leave! Let's get out of here!

Let's look at some examples of proper use:

¡Vamos a divertirnos! - Let's go have some fun!

¡Vámonos chicas! - Let's get out of here girls!

¡Ya paso la hora, vámonos soldados!
It's late, let's get out of here soldiers!

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