Yes, here's an example: [Alfred][1] and his father [Oscar][2] Swahn (Sweden) - [1912, shooting][3], team gold.

Oscar is particularly interesting, "At 64 years of age, he became the oldest gold medalist ever, which he still remains up to today."

  [1]: https://en.wikipedia.org/wiki/Alfred_Swahn
  [2]: https://en.wikipedia.org/wiki/Oscar_Swahn
  [3]: https://en.wikipedia.org/wiki/Shooting_at_the_1912_Summer_Olympics_%E2%80%93_Men's_100_metre_team_running_deer,_single_shots