The shory answer is yes, because both Gaelic and Latin are Indo-European. They both stem from a common ancestry. But they are not closely related. Latin belongs to the Italic branch, Gaelic to the Celtic.

Linguistic and etymological links therefore do exist, but the sound system and sound changes in Gaelic often obscure them. So Gaelic athair translates as 'father', clearly related to Latin pater, but not because the Gaelic derives from the Latin (there are Gaelic words borrowed from Latin, primarily religious ones).