Yes. Pennsylvania requires you to be fingerprinted and a background check. This is done through the company that Pennsylvania has authorized. You may obtain your fingerprints throughout Pennsylvania at IdentoGO locations. Preregistration is required. The fee to be fingerprinted is $23.85 (subject to change).
Registration Website (Preregistration required)
Tip: Try to plan your fingerprinting after you pass your exam and immediately before you apply for your license because the fingerprint data is available to the PAID for only 30 days. See here.