Depends of your definition of planet, according to IAU a planet needs to clear his neighborhood, in this case, only one planet can be the major object in his or

Depends of your definition of planet, according to IAU a planet needs to clear his neighborhood, in this case, only one planet can be the major object in his orbit. But co-orbital objects exist and one of the most interesting ones is the pair of Saturn satellites, Janus and Epimetheus, their orbit describe a horseshoe and there are pretty cool videos on YouTube with their orbits.