YES.
Studies have shown that medium and hard bristled toothbrushes can damage your teeth and gums.  A soft or extra soft toothbrush is enough to remove the plaque and debris that collects on your teeth.
Different toothpastes can protect or harm your teeth.  Many toothpastes are very abrasive, scratching the enamel as they physically scrub away things like stains.  The RDA (relative dentin abrasiveness) has been studied for many toothpastes. An RDA of 70 or less is generally considered to be a safe level.
Different toothpastes and toothbrushes have been developed for different specific oral health needs.  We are happy to guide you in choosing the one that is right for you.