When I developed a custom user control that exposes a custom dependency property of ICommand type the exception is shown saying "there is no ID for given dependency property".
[DependencyProperty( Properties.OpenNotificationsCommand)]
public ICommand OpenNotificationsCommand { get; set; }
Maybe it is caused by the aspect [WpfControl( typeof( Properties ) )] which does not allow to expose commands ID's (Property of a command type is not accepted?).
Possible workaround solution is to use a control template and then template bindings. In that case exception is not thrown.