Yes, you can file Form I-102, Application for Replacement/Initial Nonimmigrant Arrival-Departure Document, along with Form I-485, Application to Register Permanent Residence or Adjust Status, under certain circumstances.
If you are applying to adjust your status to a permanent resident (green card holder) and you still need to get your original Form I-94, or if it was issued with errors, you may need to file Form I-102 to obtain a replacement or corrected I-94. The USCIS requires Form I-94 as part of the evidence for Form I-485 to prove your legal entry into the U.S.