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Phone Locator app

Im sure this has been asked before, and I did use the search fields but couldn't find an exact answer. I know there probably isn't an app since it can obviously be used deviously, but is there an actual phone locator app where you can use your contact list to find where a friend, or at least their phone is? I live in a large city and I have had to try and find friends too many times, or give them directions to try and find me, and it would be considerably easier to have an app that locates them and has a map feature so I can easily get to them using my own GPS and their location.
 

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