You can use Find My iPhone, you have to have the app on your daughter's iPhone and on your iPhone. The thing is, that is an opt in feature, meaning that she would have to accept to be followed by you. You can set it up on her phone, but there is not a way to track an iPhone without her knowing.
You do not need the "Find my iPhone" app installed on the device you are trying to locate. The app is only for locating another device from the one it is installed upon. For "Find my iPhone" to work, it just needs to be setup in iCloud Settings - the app does not need to be installed.