I was getting this error on zsh(mac os Big Sur 11.3), This is how i solved this :-
Go to Terminal.
cd /users/<yourusername>
Once you reach here issue a command :
ls -al
You will see a lot of files and one specific file .zprofile. This is your user profile. We need to edit this.

After this we need to edit the file. Issue the below command :
nano .zprofile
Once you issue this command file will be opened for edit. Add the path details for maven.
M2_PATH="/Users//code/apache-maven-3.8.1/bin" //add your path of maven diretory
PATH="${PATH}:${M2_PATH}"
export PATH
press ctrl + X and save the file.

Issue command after saving the file :
source .zprofile
Once done, you will be able to run the mvn command.