Generally, no. Usually they will ask you to wait and board with the latter group. That said, there isn't going to be a huge amount of difference. Assuming this is Port Canaveral, boarding will get underway around 11:45 and once they start calling groups, they generally call one every 2-5 minutes so if you all arrive at noon, go through check in and security in about 15-30 minutes, chances are good that you'll be getting on the ship together at boarding group 10 very soon thereafter around 12:15-12:30.