Is It Possible for Asteroids to Jump Into Earth's Orbit?

It is possible for a rock from the asteroid belt or the kiper belt, or even the ork cloud, to end up in earth's orbit. But it would take a very special circumstance. Everything right now in the solar system has an orbit. The reason it's still around is that it hasn't fallen into the sun. So even to come into contact with the earth would require it most likely, to change its orbit.