Yes. Mostly painless. They do an ultrasound on your breast to pinpoint (no pun!) the location while the needle is inserted. The nurse placed a pillow under my raised arm which helped.
Here's a description in case someone wants to check out the difference between stereotactic vs ultrasound guided biopsy.
https://www.cancer.org/cancer/types/breast-cancer/screening-tests-and-early-detection/breast-biopsy/core-needle-biopsy-of-the-breast.html