LinuxQuestions.org - How to enable sudo users execute commands by Logs su -

Excerpt from "Quick HOWTO : Ch09 : Linux Users and Sudo" found here.

Quote:

You can view a comprehensive list of /etc/sudoers file options by issuing the command man sudoers.
Using syslog To Track All sudo Commands

All sudo commands are logged in the log file /var/log/messages which can be very helpful in determining how user error may have contributed to a problem. All the sudo log entries have the word sudo in them, so you can easily get a thread of commands used by using the grep command to selectively filter the output accordingly.

Here is sample output from a user bob failing to enter their correct sudo password when issuing a command, immediately followed by the successful execution of the command /bin/more sudoers.
[root@bigboy tmp]# grep sudo /var/log/messages
Nov 18 22:50:30 bigboy sudo(pam_unix)[26812]: authentication failure; logname=bob uid=0 euid=0 tty=pts/0 ruser= rhost= user=bob
Nov 18 22:51:25 bigboy sudo: bob : TTY=pts/0 ; PWD=/etc ; USER=root ; COMMAND=/bin/more sudoers
[root@bigboy tmp]#