You can do that.
You can also replace the present one, or you can add another finger. There are up to 5 slots for touch ID fingerprints, AFAIK.
Settings - Touch ID & Passcode - Add Fingerprint.
You can also select your existing one, delete it, or re-do it
There's lots of options for that. You can even add a fingerprint for someone else, if you want to let that person log in to your iPad without using a passcode.