Not exactly. Poker is a game of situations and there are plenty of situations that limping is a good play. Here are a couple examples.
1. Other people have limped in ahead of you, giving you increased pot odds
2. You have a monster hand, and there is a lag player that loves to attack limpers behind you.
3. You have small to medium pocket pair in early to middle position without a read on the table, or your read is that of a table full of calling stations.
4. You ghave a good to great hand, as well as a very loose image at a tight, but knowledgeable table.