Absolutely, with just one stitch, you can just knit two together, and that will get rid of the extra stitch. if you aren't sure how to do this, check out Amy's videos.
Picking up extra stitches is really common when you first start out. You are fortunate to just have one. My first scarf I was happily knitting along and then I realized it was taking forever to finish a row. I had almost doubled my 15 stitches to 26 stitches. I learned how to decrease thanks to my added stitches, and since I wanted the other end to match, I learned how to increase as well. It was an UGLY scarf, but I was determined to just keep knitting mistakes or not.