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If you have an old save before you done the quest, try reverting to the save.
setstage <quest ID> <stage #>
I'm not sure where you are in the quest line, the quests can be found here: http://www.uesp.net/wiki/Skyrim:Companions
Find which quest and stage. Use the command to advance it to the next stage.
It's a good idea to always make a new separate save before using commands.
Looks like it's supposed to be the Purity of Revenge quest. I have the ID for it, but would I just use 1 for the stage number? Or 0? And will this get Vilkas to follow me?
Quest Stages are on the botom (10, 20, 200)
I'm not going to speculate all the things that can happen when using commands. Hopefully setting it to the next stage then traveling to a new area will set things right. But this is Skyrim so who knows. That's why always make a separate save.
I can just tell you this is what I had to do to make it work.
The page on the top also lists Bugs and fixes.