As far as the general socially accepted use of the term is used, yes.
A simple way of saying; an unexpected discovery came to me while I was not even looking for it, at all. This definitely happens.
Most authors who have studied scientific serendipity in a historical point if view agree that a prepared and open mind is required on the part of the scientist or inventor to detect the importance of information revealed accidentally. This is the reason why most of the related accidental discoveries occur in the field of specialization of the scientist.
"Chance favors the prepared mind." William Shakespeare expressed this sentiment in act 4 of his play Henry V: "All things are ready if our minds be so."
Hence as the saying goes: "Serendipity is the mother of invention."