Yes, adverbs of frequency are very often taught simultanesouly when handling the simple present. 

One or two words (usually 'often' and/or 'always') might sometimes be taught a lesson or two earlier than the others to help clarify the simple present and its use with 'daily routine', but that depends more on the context than a need to teach them first, I think.

The most common way that I've seen that people (and coursebooks) introduce them is using a cline, something like this:

    (100%) / \

always       |

often          |

sometimes |

rarely        |

never (0%) |

Two words of caution, though:

The word 'usually' acts very differently to the other adverbs of frequency.  People tend to introduce it as being somewhere between 'always' and 'often', but unlike the others it needs to be situational.  That is, 'usually' is nearly always used in conjunction with a specific time or activity.  Compare the following:

(1)  I often have a glass of wine with dinner.                     (2)  I often drink beer.                      
(3)  I sometimes have a glass of wine with dinner.             (4)  I sometimes drink beer.  
(5)  I occasionally have a glass of wine with dinner.           (6)  I occasionally drink beer.  
(7)  I usually have a glass of wine with dinner.                   (8)  I usually drink beer. 

All of these sound okay except for number 8.  'Usually' is okay in 7 because the speaker is talking about what he/she does 'with dinner', but in 8 we are left thinking, "Okay, but when do you usually drink beer?"

The other word of caution, the actual frequency is relevant.  For example, if you asked me, "How often do you go to the cinema?", my answer would be, "occasionally", and I go about once or twice a year.  Ask my brother and he'd say "rarely", but he also goes once or twice a year.  I live in China, where the cinema isn't very popular and he lives in Australia where it is very popular.  Ss won't necessarily need to know these, because frequency words in many languages are just as relevant - but do be aware of this, because some languages are different, and you don't want Ss getting a surprise when they hear "He's always at the cinema" (meaning, two or three times a week, but being interpreted as every single day).