Is it child endangerment in Iowa if a child is in moving vehicle with unlicensed driver?

My sons father is unlicensed and obviously uninsured, same goes for his fathers fiance. I have been advised to do my best to keep my son out of their vehicles and if my son is seen being driven by an unlicensed/uninsured individual I have been informed to notify the police. Every state is different and I am having trouble finding information regarding this specific topic for Iowa. Any and all help would be great!!!!