Yes, just just grip the back of the camera without moving it too much and slip the filter on slightly, check its not cockeyed and grab camera again and push it home.
I find it easiest with the landing gear kit and perched on the end of a table.
Don't push on the back of the camera while you push the filter on. The back cover is very thin and fragile. Hold the camera firmly by the sides with 2 fingers while pushing on the filter. Make sure and push the filter all the way on.