No, just rinse (sparge) the bag containing the steeped grains and absorbed wort in a medium sized pot or container with some warm water. Although it depends on the amount of steeped grains, 1-2 quarts of rinse water should do it, reclaiming most of the sugary, high gravity wort trapped inside it. You may even give that bag a bit of a squeeze. Then add the reclaimed wort to your boil kettle.
You may want to do this sparge (rinse), twice, to be thorough. No wort left behind.