Yes, you can do this. For example, this is what I do when I need to replicate a navigation drawer in different activities:
<android.support.v4.widget.DrawerLayout
xmlns:android="http://schemas.android.com/apk/res/android"
xmlns:tools="http://schemas.android.com/tools"
xmlns:app="http://schemas.android.com/apk/res-auto"
android:id="@+id/drawer_layout"
android:layout_width="match_parent"
android:layout_height="match_parent">
<!-- The main content view -->
<FrameLayout
android:layout_width="match_parent"
android:layout_height="match_parent"
tools:context=".MainActivity">
</FrameLayout>
<!-- The navigation drawer -->
<include layout="@layout/nav_drawer"/>
</android.support.v4.widget.DrawerLayout>