Yes. The same person can be invited to sign at two different stages of the signing process. For example, someone has to sign off on one of the steps and also has the final approval. So they may sign 1st and 3rd in the signing flow.
Add as many signers as you need, select the option to set the signing order and place the email address in two different signing groups. In our example the same person signs 1st and also 3rd.