Found the question interesting, so I googled a little, and find this.
More precisely, you need to add this line to your sshd_config.
ForceCommand logger -p user.notice "$SSH_ORIGINAL_COMMAND"
According to the man sshd_config:
ForceCommand
Forces the execution of the command specified by ForceCommand, ignoring any command supplied by the client and ~/.ssh/rc if present. The command is invoked by using the user's login shell with the -c option. This applies to shell, command, or subsystem execution. It is most useful inside a Match block. The command originally supplied by the client is available in the SSH_ORIGINAL_COMMAND environment variable. Specifying a command of internal-sftp will force the use of an in-process SFTP server that requires no support files when used with ChrootDirectory. The default is none.
On my Debian rsyslog installation user.* is written to /var/log/user.log
Please note that the above will execute the logger command in-place of the original command. If you want to log the command and then execute it, you'd have to do something along the lines of (assuming bash is available as /bin/bash):
ForceCommand /bin/bash -rc 'logger -p user.notice "$SSH_ORIGINAL_COMMAND"; $SSH_ORIGINAL_COMMAND'
Or use a wrapper script which is even more restrictive than the restricted shell or - for interactive logins - the sshrc (/etc/ssh/sshrc) file could be another option to implement the logging.
Best Answer
Read the user history file from their home directory.
And if needed then with timestamps too on history command.