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Check this article for the details about Find my iPhone. With Find my iPhone enabled on both phones you should be able to log in to iCloud.com and see them there.

iCloud: Find My iPhone overview

Set up Find My iPhone, iPad, and Mac - Apple Support

If both of these phones are yours, this will be all you need to do.

You can then utilize the Find My iPhone app already on your iPhone to locate your devices or view this at iCloud.com

iCloud: Find My iPhone overview