Are you asking whether it's legal for one person to follow another when out in public, driving around? Sure, why not - as long as there is no harassment or intimidation going on, when you are in public there is no law to prevent others from following you.
However - it IS illegal to bug the person or his/her car, and the courts are beginning to tighten restrictions on whether the police can use GPS trackers on a person's car without a warrant. Thus while no warrant is needed to follow someone in public, a warrant may be required if the "eyeballs" of a cop are replaced by an automatic electronic device like a GPS tracker.
I'm not sure if this answers yuor question or not - can you provide more specifics as to what exactly is the scenario here?
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