It is possible, and the prime candidate where it might have happened is Europa. See < for more.
> Rothschild studies the origins of life on Earth and other planets. She's intrigued by Europa because it appears to contain likely key ingredients for life—water, an energy source, organic compounds, and billions of years of development.
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> Taken together, these ingredients are sufficient to support life, scientists say. To answer the question of whether life actually exists on Europa, however, requires further exploration with orbiters and landers like those currently exploring Mars.