Generally speaking yes, a lone pair would make a compound polar.
This is because you have a region of space (sub-orbital) that is taken up by 2 electrons. That makes that area of space very negatively charged, we call this an area of high electron density. So if one end of the molecule was very negatively charged and the other end wasn't (i.e. the other end of the molecule doesn't also have a lone pair) there would be a charge difference across the molecule. If this charge difference is big enough we call the molecule a polar molecule.
Hope that helps.