Is it possible to get my child's location on iPhone without them knowing?

My 13 year old has been going out after school and telling me she’s at a friend’s house but I’m not always sure that’s true. I don’t want to make it obvious I’m checking up on her because she’ll just turn her phone off or leave it at home - is there a way to quietly track where she is without a notification popping up on her end?

There’s no way to track someone’s location on an iPhone without some kind of notification or consent. Most apps that offer this will alert the user.