Tracking iPhone with app "Find My"

My wife and I each have an iPhone 6s Plus.

Is there a way she can track (Find My) my iPhone logging in as her Apple ID, and likewise, that I can track (Find My) her iPhone logging in as my Apple ID?

That is, is there a way for me to instruct the app "Find My" on my iPhone to include her iPhone as "family" or "Friend" or "whatever" and therefore to track her iPhone just as the app does my iPhone, and for her to do likewise?