We must understand the Old Testament through the lens of the Cross. Whereas in the Old Testament, no one could see God's face, in the New Testament God became man and the Lord Jesus Christ lives among us and is absolutely approachable with our senses. Just as His disciples saw him, so do we today in His icons. The Commandment still applies to idols, but the icons that we bow to are representations of the Son of God and of His saints-not idols by any means.
The Ten Commandments lie at the core of our civilization. To say that, essentially, one of them no longer applies as it used to is a tough pill to swallow.
Let's work our way step by step.
1. The following is a fair representation of what the Second Commandment means. "In a number of places the ancient texts assert that God has no shape or form and is utterly incomparable; thus no idol, image, idea, or anything in creation could ever capture God's essence. The narrative in Deuteronomy 4 recounts that when the Israelites were visited by God at Mt. Sinai at the time the Ten Commandments were given, they saw no shape or form and this is stated as a reason why any physical representation of the divine is prohibited – no idols of humans, animals, or heavenly bodies were to be made. Rather than use an idol, God chose to reveal himself in words, by working through people, and by working in history." https://en.wikipedia.org/wiki/Thou_shalt_not_make_unto_thee_any_graven_image#Commandment
I submit to you that when the Son of God became incarnate, that is God and man, he cancelled the prohibition of any physical representation of the divine. When Moses could only glimpse God's backside while on Mount Sinai, every contemporary of Jesus could see the entire person of the Son of God or God. Do you not see how the Second Commandment was affected?
2. Using the same source, we find that the word "idol" means: "The English word "idol" in translations of the Bible may represent any of several Hebrew words. In the commandment "You shall not make for yourselves an idol", the word is pesel, indicating something carved or hewn. In subsequent passages, pesel was applied to images of metal and wood, as well as those of stone. Other terms, such as nēsek and massēkâ, massēbâ, ōseb, and maskit also indicate a material or manner of manufacture.
Some terms represent the consistently negative moral view with which idols are portrayed by the Bible. For example, idols are referred to as "non-God," "things of naught," "vanity," "iniquity," "wind and confusion,"  "the dead," "carcasses," and "a lie" Other terms are deliberately contemptuous, such as elilim, "powerless ones", and gillulim, "pellets of dung"."
Obviously, the icon of the Lord cannot possibly be portrayed this way. I would also say, neither the icons of His Mother, the Theotokos, or of His saints. BTW, do you know why we bow to each other--to venerate the Holy Spirit in each other. And, so it is with the saints whom we adore and venerate.
That said, we still are forbidden to worship any God rather than our Triune God. We cannot be Orthodox Christians if we treat the icons of the Theotokos and the saints as idols and worship them. However, we simply do not do so. Never have and never will. We do worship Christ our Lord because He is God. Don't worry; the Second Commandment is safe and sound, and obeyed in the Orthodox Church.