Yes, very. My method:
I inlet the legs 1" on a 2" thick bench. I attach the legs with PL Premium and 3" deck screws (across and at a down angle).
I flip the bench over on my wood trailer and make sure it is level in the center. Then I glue in both legs, and check that they are both level before sending the deck screws home. With both legs level, it is solid and there is no rock.
To inlet, I trace the legs on the bottom of the bench and plunge cut with the circular saw set at 1" depth. (DO NOT PULL THE SAW BACKWARDS, IT WILL WANT TO JUMP OUT AND BITE YOU), do the plunge and push forward only.
Then I chisel it out, and where the saw blade is not at full depth I hammer the chisel vertically to get to the correct depth. Cut your legs a little narrower near the top so you don't have to cut too near the edge of the bench. Just use your judgement.
Here are pics of the half round Chestnut Oak bench with 4" thick legs. This one is "taper cut" instead of flat cut. I cut the reliefs in the half round with the Radial Arm Saw so the bench is the same thickness on each side.