In the early solar system, yes. Venus is rotating in the opposite direction to all the other planets, very slowly, every 243 days. Thought to be the result of it getting hit by a Pluto sized object.
It could also happen hundreds of millions of years or so from now onwards. There's a possibility, very low, that Jupiter might move Mercury out of its orbit through orbital resonances over very long time periods. If that happens, then one remote possibility is that Mercury hits the Earth. Or for that matter, Mars could be destablized by the changing orbit of Mercury and hit Earth.
It is more likely though that Mercury would hit the sun, or be ejected from the solar system, or it could hit Venus. And all of that is just a 1 or 2% probability.
The probability is 98% - 99% that the solar system just continues like clockwork and nothing happens.
This is so far into the future that we don't need to be concerned about it at present. But that, as for Venus, an impact on Earth by Mars or Mercury could be a big enough impact to send the Earth rotating in the opposite direction I think. After all it happened to Venus.