Yes, it also has to be velocity in the right direction :p But if you can't get enough velocity it doesn't matter how high you are or where you're going.
It
is possible to land these things, did it once by accident. I had a hilariously terrible engine timing screwup make all three stages fire simultaneously, causing a ball of hellfire probably visible from space... and when the smoke cleared, the top stage was just kind of hovering there. Bring down the engines slowly --- *plunk* 9 point landing.
Not on the launch pad though. Beside the water tower. There was a
lot of drift.
Having a parachute out helps a lot for smaller things, reduces drift and reduces speed. Larger things are pretty much
impossible one way or another -- even if your vertical velocity is zero, enough drift will still knock your rocket nozzles off.