Find My Phone email notifications
I'm reluctant to suggest this without knowing more about your situation, but taking your question at face value, you might want to look into Apple's Find My Friends app.

It has various settings that control who can see a phone's location and for how long they can see it. And with the Restriction settings within iOS you can set various settings and lock them down.

There are various articles online about parents using Find My Friends in a positive way with their children. For example:

http://www.allprodad.com/articles/dads-and-teenagers/find-my-friends/

http://dotcomplicated.co/content/2013/05/location-tracking-app/