Is it possible to add someone on iphone find my for tracking?

My teenager just got their first phone and I want to be able to see where they are without having to text them every five minutes. I added them as a contact but I’m not sure how to actually share locations between our devices - do both people have to agree to it or can I set it up from my end as the parent?

Both parties need to agree. The teen must share their location with you through Find My. You can’t set it up unilaterally as a parent.