You might try Life360, free and available for iPhones and Android. I use the Android version with my wife.
https://play.google.com/store/apps/d...IofimAHnibLQCg
We're also checking out Strava's Beacon, it's in beta testing and available to premium users. When you start out you can send a text to whomever. It has a link to Google maps and they can follow you. My wife likes it better than 360. I need to take a little trip with both our phones to see what shows on hers.