Yes, Scipio Aemilianus was in fact Aemilius Paulus' son. He was also present at Pydna, and, according to Plutarch, he fought exceptionally well on the cavalry wing:
Well, then, when it was already late and he was almost despaired of, he came in from the pursuit with two or three comrades, covered with the blood of the enemies he had slain, having been, like a young hound of noble breed, carried away by the uncontrollable pleasure of the victory. This was that Scipio who, in after times, destroyed Carthage and Numantia, and became by far the most noble and influential Roman of his day. Thus Fortune, postponing to another season her jealous displeasure at the great success of Aemilius, restored to him then in all completeness his pleasure in his victory. -Plutach, life of Aemilianus Paullus, 22
Some sources (I cannot remember which) place the blame of Aemilianus' apparent murder on the shoulders of his wife, Sempronia