Yes, he did. Menelaus sailed to Troy with an allied Greek force to recover his wife, Helen, who had eloped with (or been abducted by) the Trojan prince Paris. The Trojan War was triggered when King Priam refused to return Helen. Menelaus’s exploits in battle included his duel with Paris. Menelaus proved the better fighter but was prevented from winning by Aphrodite, who spirited Paris away. Menelaus was also among the Greek soldiers hidden in the Trojan horse during the sack of Troy. He was reconciled with Helen after Troy fell and sailed back to Sparta with her.
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