MoosTrax sends your iPhones location to MoosTrax.com account. You can track your iPhone live, view location history, tag favorite locations, and setup GeoFence notifications from the website.
The iPhone application also allows you to view the location of any device on your account.
Signup for a free account at MoosTrax.com and get started!
Disclaimer: Continued use of GPS running in the background can dramatically decrease battery life.