YES! 

There are two types of herpes (HSV), herpes simplex one and herpes simplex two. Both live in the spine in a latent stage, and are most likely to manifest themselves when someone is feeling depleted. simplex one generally manifests itself on the mouth as a cold-sore, and simplex two generally on the genitalia. however simplex one can appear on genitalia and vice versa. 

Herpes is a skin to skin transmitted disease. Meaning just rubbing of the genitalia, closed mouth kissing, and oral sex can be modes of transmission. one of the most common ways of it spreading is parents kissing their children. Also, the most contagious time for the virus to spread is not during an outbreak, rather when the skin is "shedding". An outbreak may never actually occur.

One in four adults in the USA have herpes, and since the most common symptom is no symptom at all it is incredibly possible to contract the infection from someone who didn't know they had it. 

A condom does not necessarily protect against herpes as it is a skin-to-skin disease. When you think about it a condom covers some skin, but not all skin. Around the base of the penis is still exposed, and there is no barrier.