Yes. DNA replication is remarkable (and I cannot overstate how remarkable it is) in terms of accuracy, efficiency, and speed-- but, like everything else in this world, it isn't perfect. When mistakes
are made, there are several ways that the body can correct it-- however, cells can sometimes miss this as well. Hence, with an altered DNA sequence, you now have an altered mRNA sequence. With an altered mRNA sequence, you now have an altered protein sequence. Proteins always exist in 3D conformations in organisms, and this conformation is COMPLETELY determined by the individual amino acids that make up the protein. If you have an amino acid like histidine become a glycine, it COMPLETELY changes the structure of the protein, and every biochemist knows that structure = function.
I'm trying to point out to you, genetically and biochemically, how a single mutation can seriously alter the function of a protein. That's why a single altered base-pair is the difference between someone having bi-concave shaped red blood cells (and being susceptible to malaria)-- in comparison to a heterozygous individual, who has some sickle-shaped Red Blood Cells, but is now able to stave off malaria infection, passing on his mutated red blood cell genes to the rest of his offspring.
This is why sickle-celled anemia is so high in Africa. Natural selection of genetic mutations, in action:
Mutations, when in the germ-line, are always heritable. That is not up for discussion. When your DNA sequence changes in your germ line, it will be there as long as your cell-replication machinery doesn't make mistakes-- the only time we ever really see cell-replication machinery make mistakes routinely, is in cancer (for various reasons).