Usually there is no problem having someone else pick up your prescriptions. A friend of mine always goes to the pharmacy to get her mother in laws meds for her. Also...I've had friends pick mine up and vice versa...never had any problems.
My wife picks mine up all the time. You just have to inform the pharmacy that you need her too. The pharmacy can let you know what their specific policy is, and of any laws pertaining to the specific prescription.
I have picked up my mother's and brother's. The only time there has been an issue was when my brother was prescribed a very controlled narcotic. The doctor had to call the pharmacy and tell them who I was and I had to show the ID to pick up that particular drug for him. Other than that one instance, no problems. I wouldn't even call that a problem, just a reality in my state. Unless your daughter needs to pick up liquid morphine or OxyContin she most likely won't have problems.