Yes. The last thing you want is to leave your date hanging around for you. It doesn’t make a good impression, especially on a first date and it’s even worse if you don’t apologise. If you’re just a couple of minutes late, a simple apology is sufficient. If you know you will be late, inform your date. That way you can arrange an alternative meeting time, or they’ll at least know you are on your way.
If you don’t they might assume they’ve been stood up. Whether you are meeting them in a public place or picking them up, always be on time. It’s embarrassing waiting around for someone, especially if they aren’t certain you’ll turn up.