I figured it out, may be you can use this method in the future. On the parent page I set it so that the parent is the opener.
window.opener = self;
window.open ('url');
Then in the child page, I called the parent to close.
window.opener.close();
By setting the parent to be the "opener", you can close the parent in the child page without receiving the prompt. It took me quite a long time to figure this out. SIGH!!!!