Usually not in the sense of a counter where someone grades your card while you wait. PSA, Beckett, CGC and SGC grade cards at their own facilities, and most collectors reach them by mail. What is more likely to exist near you is a card shop that submits to one or more of those companies on your behalf: it checks the order, packs and ships it, and hands back the slabs when they return. Start with the PSA grading and submission shop directory, open your state, and read each listing to confirm the shop states that it handles grading submissions.
Before you choose one, ask which companies the shop sends to, whether it combines customer cards into a single order, what the fee covers, how insurance works while the cards are in transit, and how you will hear that the order is back. A written receipt that lists each card and service level is worth insisting on. If nothing local fits, you can open an account on the grading company's own website and submit directly, which means handling packaging and declared values yourself. Large shows on the card show calendar sometimes host a grading company's submission table, so check the show's own listing before you travel for it. The card grading guide covers how to decide whether a card is worth sending at all.