Yep. Click the name of your room in the top toolbar and select the "Room Details" tab. Now click on the Discord integration button. You can also click on the purple INVITE button in the top right corner of the room where you can share the room on Discord.
Go through the on-screen steps to add the Here bot to your Server. At the end, you'll pick a channel to link to the Room. It looks like this:
Type /here in your linked channel on Discord to generate a Join Button for the Here room affiliated with that Channel.