I installed a tracking app on my teenage son's phone and he found it. Now he does not speak to me.

My son is sixteen and had started coming home late and lying about where he was. I installed an app to see his location. I did not tell him. He found it last week and shouted that I do not trust him. He has barely spoken to me since. I told him it was for his safety, but I know I should have told him first. I do not want to lose his trust, but I also worry about him being out at night.