Yes and no

Some emotions are innate, which are present since birth. These emotions can be fear, happiness, etc... Which are emotions that are needed for homeostasis to ensure ones survival. However, other emotions such as, surprise are not innate. These emotions are learned through experience. For example, When one is attending a surprise party they know to laugh and look surprise, but if a newborn is thrown a surprise party, their innate emotion fo fear may come out.