Is It Possible for Asteroids to Slowly Come Up to the Earth?

It's possible for us to get close to the earth and like joiin our orbit, but then it's going to be captured by the earth. It wouldn't actually get to 11 kilometers per second by the time it hits the earth because of the distance from the air. But even astroids that do hit the earth at high speed, some of them make it to the surface,. if they're big enough to survive the trip through the atmosphere. And maybe it might. It will ce crash un to earth.