I think many or all of the lost phone apps can track. Ignoring the legality of tracking a person without their knowledge, I know that Cerberus does this. I'm sure other apps do it too. It doesn't record where it's been, but you can ask it where the phone is right now.
Is this a company owned phone? If so, you can do whatever you like with it, including installing tracking apps. If it is the employee's personal cell phone, you can't do it without their permission.
If you want to track where they are going during their work shift, and they are driving a company vehicle, just put a tracking device in the vehicle. Here are a few examples. Or something like this
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