"ntpd" is great, but by default it refuses to synchronize time/date if it's offset is too big.
Therefore, I've usually called "ntpdate" once on fresh installs, or when I wanted to manually force re-sync of time/date - and then ran the ntp demon.
Now, here's how you can do the same thing using "ntpd" only:
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$ ntpd -p $TIMESERVER -gq
The command returns nothing, but it's good to check your time/date afterwards:
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$ date