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Yes. This first happened in the Third Doctor serial "The Time Monster". It happened again in the Fourth Doctor serial "Logopolis". The Fifth Doctor also considered doing this to the Master's TARDIS in "Time-Flight". In all three cases, the action is described as being a bad thing to do.

In the Revived series we have seen it in the Children In Need Skits "Space" and "Time", causing a time paradox.   In "Time Crash" the 5th Doctor's TARDIS occupied the same place and time and the Tenth's TARDIS, threatening to blow a Beligum-sized hole in the universe. It is also strongly implied that the War, Tenth and Eleventh Doctors' TARDISes also occupied the same location for at least part of "The Day of the Doctor", the only noticeable effect being the TARDIS being unable to decide which desktop to use.