I am looking for one too so if you find one let me know.
I only know 2 that does it so far. Google Maps with their latitude. You have to make sure you have a good phone with good reception for it to work. The only problem I found is it's too basic.
GPS Tracker by Instamapper but they stop supporting it and no longer making it. So if you have Android 4.0 and up, the program will end up stop working because the Android 4.0 is trying to save battery. So you have to check the program once an hour to make sure it's still working.