Absolutely! Youth can join Scouts BSA with no prior Scouting experience (i.e., Cub Scouts) as long as they meet the age requirements.
Youth can join Scouts BSA if they are at least 10 years old, currently in the fifth grade and register on or after March 1st; OR have earned the Arrow of Light Award and are at least 10 years old, OR are age 11 but have not reached age 18.