Yes. You need to install Brother® iPrint&Scan app into your device to print or scan with your Brother machine. Brother® iPrint&Scan is available on the Apple App Store for free.
For more information click here to see iPrint&Scan support information.
Also, the latest User's guide for Brother iPrint&Scan is available in Manuals section. Click here to see the Mobile Print/Scan Guide (Brother iPrint&Scan).