Yes. Matthew 21 mentions two animals, but Christ rode one of them.
The KJV says:
“Go into the village over against you, and straightway ye shall find an ass tied, and a colt with her: loose them, and bring them unto me.”
— Matthew 21:2
Then:
“And brought the ass, and the colt, and put on them their clothes, and they set him thereon.”
— Matthew 21:7
The two animals were:
1. The ass — the mother animal.
2. The colt — the young animal, “whereon yet never man sat” according to Mark 11:2 and Luke 19:30.
The Lord rode the colt, while the mother was brought along with it. That makes good practical sense: a young, unbroken colt would naturally be steadier with its mother beside it. Matthew mentions both animals because he is emphasizing the exact fulfillment of Zechariah 9:9:
“Rejoice greatly, O daughter of Zion; shout, O daughter of Jerusalem: behold, thy King cometh unto thee… riding upon an ass, and upon a colt the foal of an ass.”
That wording does not mean He straddled two animals. It is Hebrew-style parallelism: “an ass” is further identified as “a colt the foal of an ass.” Matthew records the presence of both the mother and the colt; Mark, Luke, and John focus on the one He actually rode.
So doctrinally and historically: there were two animals present, but Jesus rode the colt.
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