CQRS Journey should not be seen as a manual. This is just a story of some team fighting their way to CQRS and having all limitations of using only Microsoft stack. Per se you should not use your read model in the command handlers or domain logic. But you can query your read model from the client to fetch the data you need in for your command and to validate the command.
Since I got some downvotes on this answer, I need to point, that what I wrote is the established practice within the pattern. Neither read side accesses the write side, not write side gets data from the read side.
However, the definition of "client" could be a subject of discussion. For example, I would not trust a public facing JS browser application to be a proper "client". Instead, I would use my REST API layer to be the "client" in CQRS and the web application would be just a UI layer for this client. In this case, the REST API service call processing will be a legitimate read side reader since it needs to validate all what UI layer send to prevent forgery and validate some business rules. When this work is done, the command is formed and sent over to the write side. The validations and everything else is synchronous and command handling is then asynchronous.
UPDATE: In the light of some disagreements below, I would like to point to Udi's article from 2009 talking about CQRS in general, commands and validation in particular.