Usually, yes. For the best results the hen should have been consistently broody for around 3 weeks. Trying to give her chicks much earlier seems to increase chances of rejection. Lots of folks say to graft them to her at night, but I've done it during the day and had just as good results. I let the chicks get a little cool, just at ambient temp, so they're really wanting to snuggle down under momma when I put them in with her. You can slip them underneath her (from behind seems to work better than trying to tuck them under her breast), or you can just drop them on or near her and they'll find their own way underneath.
A little bit of pecking is normal, even with chicks a hen hatches herself. It's kind of an exploratory thing. She shouldn't draw blood or be persistent about pecking a specific chick. The chicks also peck the momma's comb and wattles a lot, the red color is attractive. That's normal.