LiveTracker Beta is a free GPS tracking app and it has recently been updated to internal version number: 0.1.6. This versions solves some minor issues of the previous beta but has no functionality changes.
After you installed the application, just start LiveTracker and it will start searching for GPS location fixes. There is also a “share location” option in the program’s menu where you can share your current location with your friends.
The makers of LiveTracker, SkyLab Mobile Systems, also offer a free maps program called TopoExplorer.