I believe so.
I'm sure nof it. Somehow, this whole manga (story of Usagi and Misaki) is about that question and if it wouldn't happen... that would be strange :P
I see Misaki making progress every chapter. Sure he seems confused and unsure at times, but with each new chapter his feeling grow stronger, he becomes more aware of what he truly wants, and his resolve to make that happen is becoming stronger. Misaki is going to figure out how to be able to stay with Usagi. He is going to tell his brother and make him understand. I can also see why Usagi-chichi is getting up in Misaki's business.... but I'll leave that out here for the sake of spoilers. The more yaoi you read the easier it is to understand different and subtle gestures and actions from other charachers.
I have questions that being nagging the hike out of me. Do anyone believe that misaki will fully get over that the both men in their relationship and then fully committed to him (usagi )?