/usr/bin/legend
/usr/bin/mapserv
/usr/bin/msencrypt
/usr/bin/scalebar
/usr/bin/shp2img
/usr/bin/shptree
/usr/bin/shptreetst
/usr/bin/shptreevis
/usr/bin/sortshp
/usr/bin/tile4ms
You may install this package on Debian with
apt-get
install mapserver-bin