No. "Condole" is not used with an object. It would be correct to say "condole with him for the death of his uncle." Note that "condole" used this way is not very common, although "condolences" is, especially in the expression "to offer condolences."
Another possibility is that you were thinking of the word console. Condole means to express sympathy with someone who is sad, and console means to comfort someone who is sad or disappointed. It is correct to say "console him over the death of his uncle."