Yes!
Jupiter, the largest planet in our solar system. It's so massive that 1,300 Earths could fit inside it. Jupiter is 2.5 times more massive than all the other planets in our solar system combined!
This is our little earth compared to Jupiter:
Jupiter is so large that the center of gravity of the sun and Jupiter is outside the sun, although it is extremely close to the sun's surface.
So the Sun and Jupiter both orbit around their center of gravity, also known as the barycenter.
The barycenter is the center of mass of two or more bodies orbiting each other and is the point around which the bodies orbit.
Technically Jupiter orbits the center of the sun and Jupiter is outside the sun.
So yes! Jupiter is so big that it doesn't orbit the sun. Fascinating!
Now, other planets in the solar system are so small that the center of gravity of the sun and a planet like Earth are located inside the sun. (Even very close to the center of the sun.)
So it looks like other planets are orbiting the center of the sun.
Source: Baricentro - Wikipedia
To understand this, you can also imagine turning a child around like this:
(It could be dangerous. Just imagine.)
The center of gravity of you and the baby would be somewhere very close to your feet. So you're spinning almost in the same spot, but the baby is orbiting you. This is exactly what happens with the sun and the other planets.
By the way, this is how two stars with nearly the same mass orbit around their common center of gravity in a binary star system:
Center of gravity - Wikipedia