Yes, but likely not in the way you think. My planet is called Gran Pulse and it's very, very large. However, above it was another called Cocoon. It was probably the size of your average moon, I suppose? But it didn't orbit Gran Pulse, it was floating within the atmosphere.

Eventually, Cocoon fell and it's inhabitants had to live on Gran Pulse, so it took a lot of exploring and research to get civilization going again as the original inhabitants had all been wiped out.