I am pretty sure you can set up google lattitude on his phone. he will have to have location on at all times though for it to work. If he turns it off to E911, then you wont be able to see him.
You will also need to have google lattitude on your phone and have him under your buddy list and everything. his face/name will pop under google maps, but this is if his location is set to on and not to E911.