Yes, I've used it like this before.

[He's relieved when his younger self takes hold of the toy. It's a strong string. and the Doctor grabs hold of it to make sure the weight of his counterpart doesn't tear off his finger. Slowly - carefully, he pulls the other man closer to the bank. It takes a bit, since he's also trying to fight against the flow of the river. But, Finally he can reach out his hand to the other man.]

Here. Take my hand, I'll pull you up.