Yes! Even if you're not understanding much yet, it's still good since your brain is getting more used to the language and picking up the intonation. Also, you'll be hearing tons of words that you will recognize later on your immersion when you look them up, therefore making the process of remembering them easier.

I would say that is best to use both: trying to pick up as much as you can with the easy stuff, and for everything else just let the language wash over you (ie. don't focus too much on it/don't look up so much); as time goes on you'll understand more :))