Is there a way to see location history for find my friends

Duxgrl,

Providing a history of locations is not a feature of Find My Friends. It only shows the location at the time you check.

There are other apps that may be of interest. Swarm provides a history of various venues that you checked into as you visit them.

The closest thing I know of (that comes with the phone) is Favorite Locations which gives a history with date /times/location of frequently visited locations - but this is not for FMF and not all history...