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Apple offers a free app called Find My Friends, which lets you locate iOS devices belonging to anyone who’s given you their permission to know their whereabouts.
If someone gives you permanent, unrestricted authorization, then you can find them (well, find their iCloud-enabled iOS device, assuming it’s with them) whenever you want. However, you can also request temporary access to the locations of one or more people, and provide such temporary access to your own location—for example, just for one evening, or for the duration of a conference or vacation. And, regardless of the duration of authorization initially granted to someone else, each person can revoke others’ access at any time.
To use Find My Friends, tap the Find Friends icon on your iOS device, enter your Apple ID and password, and tap Sign In. Agree to the alert asking if the app can use your current location, and optionally to the alert asking if the app can send you push notifications.