Yes. The term comes from the Bible, from the account of Jacob wrestling with God, and refusing to let Him go unless God blessed him (Genesis 32:22-32). In a wrestling match, each opponent is striving to gain the victory over his opponent. When used to describe prayer, the idea is not that God is the enemy that we are trying to have victory over, but rather the One who has the power to bless us, and we are going to continue to pray until He does. Jesus gave a parable in the Gospel of Luke 18:1-8, which illustrates the same principle.