Yes, you can, as long as the given range (-20 to 20) is enough to give you good results.
AF Fine tune values are simple to understand. If your camera exhibits back focus (i.e. focus is farther away than you want it to be), you apply a negative value and vice versa - if it exhibits front focus, you apply a positive value.
You can find the AF Fine Tune screen in Menu -> Setup. It's described on page 246 of the user manual.
You can first try an experimental approach - for example if the camera is back focusing, try applying a value of -5 and shoot for a while like this. If it's still back focusing, apply a value of -10 and so on.
There is also more precise methods that take a little bit of extra time and usually require a good tripod or at least a steady surface to place the camera on. One such method is informally called "DotTune" and is described in this video.
If you find that you're hitting either end of the tuning range (e.g. you're at -20 and the body/lens combo still gives you back focus), then you probably need to send the body for service. If the body is still under warranty (I doubt it), it's free, otherwise they'll charge a small amount of money.