yes, stoop or humble oneself (literally, to descend with)

Synonyms:
accommodate, accord, acquiesce, agree, be courteous, bend, come down off high horse, comply, concede, degrade oneself, deign, demean oneself, descend, favor, grant, lower oneself, oblige, see fit, submit, talk down to, toss a few crumbs, unbend, vouchsafe, yield [some of these are much more negative in feeling than others]