Honestly, I don't think so...but I think common courtesy toward your fellow human being can.
Chivalry is the idea that women are...lesser and need more courtesy, more hand-holding, door opening, they're weaklings who need to sit down more than men etc. I just don't think that those ideas CAN co-exist with feminism.
But basic politeness? Seeing somebody - regardless of gender - struggling and offering to help them put their groceries in the boot of their car, or holding a door open for them? Absolutely that can coexist with feminism.
I held a door open for a bloke in a computer shop the other day carrying an armload of heavy IT equipment. Had nothing to do with me being a woman and him being a man - it had to do with him struggling with a heavy load and me being courteous and having the ability to help.
Having said all of the above, I would never get upset at somebody who opened a door for me or offered me a seat on a bus - I'd smile and thank them (and decline in the case of the seat)...politeness in refusal is just as important as politeness in offering.