Why do we say Asher Kideshanu Bemitzvotav Vetzivanu Lehitatef Batzitzit? Where does Hashem command us to wrap ourselves in Tzitzit? Should’t it be something like Lilbosh or Laasot?

Lehitafef means to wear (that’s how we wear the Talit), the Mitzvah is not to do the Tzitzit but only to wear.