Short answer: yes!
However, it’s definitely more advanced and a much bigger topic than I can cover in a couple posts. There are a couple different ways you could go about it, but first I’d suggest watching Wayne’s excellent animation courses after you’ve finished the Fundamentals of Animation that’s part of the 2.8 learning flow: Animation in Blender – CG Cookie
Edit: If you’re super curious, here’s how I would go about it with constraints:
