Of course! When sending any document for signature, or for approval, you can set the order of the signers by checking the "Select the order of the signers" option.
Use the arrow on the right or the icon on the left of a contact to move a contact, changing the given client’s signing order. The document will then “journey” from one user to the next in precisely the order you defined.
If you want to have the counterparty sign the document first, then click on "Send without my signature" in the content of the document. This action will send the document to the counterparties for signature first, and once signed you will be able to insert your signature.