Yes, two in fact. Lifeboats 4 and 14.
The crew knew they didn't have much time, so they came up with a plan. Don't let Titanic go down with lifeboats in the davits. This, combined with a fear of the keel of the lifeboats buckling due to carrying so much unsupported weight, caused the launching crew to launch the lifeboats as fast as they could (and mostly under-filled) and order their crew to circle around the ship and pick up other passengers from the water and open gangways. Out of 18 boats that were successfully launched (out of a possible 20), only 2 complied with these orders.
Lifeboat 4 under the command of Quartermaster Walter Perkis rescued several people from the ocean itself as and after Titanic sank, though two died of exposure before they were rescued by Carpathia.
Lifeboat 14 under the command of 5th Officer Harold Lowe is the one depicted in Cameron's movie to the exclusion of No 4. Lowe took the orders to heart, but in a very practical way. He organized a flotilla out of several lifeboats before hand-picking a crew to put in No 14 to head back for survivors. Only after the cries had died down substantially to avoid the lifeboat being swamped.
People often judge him for this. I'm a defender. He was the head of the only substantial rescue effort and was correct (in my view) to avoid putting his group of survivors at too great a risk. There were over a thousand people nearby, he simply couldn't save them all.
Here's a lighter note we'll end on; a fun fact regarding James Cameron's movie. The lifeboat that rescued Rose is shown to be 5th Officer Harold Lowe's charge, Lifeboat 14. Lowe's same lifeboat rescued the waterlogged passengers of Collapsable A. You know who was in Collapsable A in the movie? Cal Hockley, her evil fiance she spent the whole movie trying to escape. That would have been an awkward reunion.
EDIT:
Crap. Forgot sources.
I wholeheartedly endorse (if you're up for a bit of dense reading) "Report into the Loss of the SS Titanic; A Centennial Reappraisal" by Samuel Halpern et al.
Also, it would be a good idea to at least skim "The Olympic-Class Ships; Olympic, Titanic, Britannic" by Mark Chirnside.