Yes. It happened on September 20, 1963, according to History.com. It is one of the lesser known but more important events in the last months of President Kennedy’s life and presidency.
In the fall of 1963, JFK was on a political roll. His approval ratings had climbed. He had overcome the grumbling of the Pentagon and all but secured Senate ratification of the popular Limited Test Ban Treaty, banning nuclear explosions in space. Then he went to New York to say something daring.