Does anyone know how to track an iPhone from another iPhone?

My teenager just started taking the bus to school by herself, and I really want to make sure she is getting there safely without having to text her for constant updates. I know there should be some kind of built-in location sharing feature between our devices, but I am completely lost on how to actually configure it so her location updates automatically in the background. Can someone walk me through the easiest way to monitor her whereabouts from my own screen without making it overly complicated or requiring her to approve the connection every single day?

It’s best to use Apple’s Find My app. She’ll need to share her location initially, but it can then update automatically without daily approval.