Contract: recover lost kerbals from orbit
Yes, you are able to do this. The most important thing to know is that you have to get your ship within ~2.5km in order for the stranded Kerbal to load. Once that's happened, you can switch over to him using [ or ]. After that, it's a simple matter of guiding the Kerbal to your rescue ship and returning to the surface successfully. No right click needed, or anything like that.