Yes. HomePod support goes back all the way to iPhone 5s, 5th-generation iPad, iPad mini 2, first-generation iPad Air, and all sizes of iPad Pro. It also supports the sixth-generation iPod Touch.
Your iOS device must be running on iOS 11.2.5 or later. HomePod will pair like AirPods, so when the device you're setting the HomePod up is within proximity, a card will popup on the screen with a picture of the HomePod. Pairing requires a password, which the HomePod can automatically enter by generating a special tone or Siri (via HomePod) can speak a code that you would enter on the iOS device. After that you'll select the home and room for your HomePod (this has to do with the 'Home' app) and HomePod will use your iOS device to automatically configure WiFi, iCloud and iTunes account settings.
It's important to note that HomePod requires both Keychain and two-factor authentication to be enabled from 'Settings' on your iOS device(s).