Sure. Unfortunately far too many people neglect doing it until the brake pedals are a mile out of adjustment. To tighten them up you simply pull a cotter pin at each brake rod end at the brake pedal and slide the rod out of the hole. Now, clamp your best vise-grips on the rod and tighten it like a bolt. The problem will be the threads will probably be rusted badly and you do NOT want to twist off the brake rod !!!!!! A heavy spray of your favorite panther urine into the brake rods hole and gave it some time ?? Try to maybe loosen the rod a bit first to crack it loose ?? I have creatively used a braze torch tip turned up pretty high and shoved in the hole to heat the rusty trunnion to get things broken loose. And finally, I have oftentimes bought a 3/8" coupling nut and whacked the brake rod in two somewhere near the mid-length, threaded each rod half after shortening and then use it to adjust the length. Prop the brake pedals ahead 4 inches or so to get them out of your way to work. To be abundantly clear, you twist off the brake rod (of grade 5 quality) and you must pull the rear wheel and axle to repair it.
 
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