Yes. In August 1943, after his patrol boat PT-109 was cut in half by a Japanese destroyer, Lieutenant John F. Kennedy swam about 3.5 miles to an island while towing a badly burned crewmate by a life-vest strap held in his teeth.
PT-109 was on night patrol when the destroyer ran through it in the dark, splitting the small wooden boat. Two crew members were lost in the collision. Kennedy, who had been thrown across the deck, gathered the survivors who could not swim well onto a floating piece of wreckage and then led the swim to a nearby island.
McMahon was in the worst shape, with serious burns. Kennedy took the strap of McMahon's life vest in his teeth and swam with him in tow. It was slow, painful work across open water — and it is the detail every serious account of PT-109 keeps.
Reaching land was not the end of it. The crew still had to survive, find food and water, and get word out. Kennedy made further swims looking for help and a way to signal rescuers. About a week after the collision, the survivors were rescued with help from local islanders and coastwatchers.
Kennedy was awarded the Navy and Marine Corps Medal for his actions. Years later, as president, he donated his presidential salary to charity — a separate fact, but part of the same public record of his life.
See the short version in the LOE PRESSURE "Things You Didn't Know" series — Episode 21, JFK and PT-109.
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Sources: John F. Kennedy Presidential Library and Museum; Naval History and Heritage Command.