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Spy GPS tracking

I am a proud Dad and have given my teens Android phones. Now, I want to know where they are at particular times of the day
e.g. Are they really in school when they are supposed to be ?

Ideally, I will be doing this twice a day. So, I need GPS co-ordinates trackable using Google maps.

Which apps can I use ?
The app should also be hidden in the phone and cannot be stopped or viewed in List of installed apps.

I am also confused about which settings to enable on the phone. Advice on this would also be appreciated.

Thanks! :)
 
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