Yes, absolutely. In order to do this, you need to configure the replication to use the Availability Group listener as the subscriber. That way, the database that you’re using as the subscriber will follow the AG. After replication creates the database, you will need to add it to the AG, as replication won’t do that for you. After that, it’s just normal SQL Server Replication.
If you want to, you can replicate from the same availability group to another database on that same availability group.