Complaining in a time of crisis!

I do not know about you but there are people in the bible that I look at things they did and say to myself; Why did they do that? For example the children of Israel and their murmuring and complaining after being let go by the Egyptians that had used them as slave labor for years. Looking closer at this situation they were for sure in a crisis situation. First with the army chasing them. Later with the enduring the hardship of the desert. We saw how God reacted to this with them. So my question to you today is it okay for us to complain in our time of crisis?