In short, no. The poet John Dryden in his old age decided to edit much of his back catalogue. For some bizarre reason, he decided prepositions didn't look good at the end of sentences, and went through all his volumes moving them somewhere else. He obviously had nothing better to do.
Some years later a guy decided to write an English grammar book. This was in the eighteenth century when people really wanted logical rules to govern language. This chap was actually a mathematician, so I'm not sure why he felt qualified to write an English grammar book. (Can't remember his name now, I learnt this a while back) He got hold of Dryden's dotage decision and decided to put it in his grammar book as one of the prime rules of the English language. People followed like sheep, as they tend to do with anyone who says anything with apparent authority, and students have been tormented with this non-existent rule ever since.
Winston Churchill particularly objected to this. When one of his employees "corrected" a draft speech which Churchill had written by moving the prepositions, Churchill gave it him back, having written across the page "Up with this I will not put!"