Yes, and figuring out the differences is sometimes a challenge for English-as-second-language people. Finnish uses one word for both foot and leg, and if you want to say foot you say "leg table" (the horizontal part of the leg). Similar with hand/arm. In the other direction, Finnish has separate words for the front and back of your neck (and I don't mean just throat).

If I kick my foot on a rock, I may say something out loud about hurting my leg. That doesn't sound right to native speaker.