// Welcome to Second Life forums, Tara, and Happy New Year to you too.
Bring up the person's profile and click on the option at the bottom of the profile to allow them to see where you are on the world map.
Also when you look at your entire list of friends, there should be tick boxes to the right hand side where you can give each of your friends different privileges, from being able to see you on the world map to editing your objects. //
Thanks very much!