Yes.
If only one person understood a language, then it would not be a
language because language by default needs to facilitate
communication. Urdu is one of the most popular first-languages in
the world.
If your question was asking if there mutual intelligibility
between Urdu, Hindi, Gujarati, and Marathi, there is a high degree
of mutual intelligibility and more worldly speakers of any of these
four can typically figure out what is said in any of the other
three, but in order to have a more serious conversation, they would
need to speak the same language.