Yes, people were "nudged" to get vaccinated to by restricting travel and ability to work, aka denial of food and shelter, but not quite physical force yet.
However, I don't recall any civilized government using physical force to pin down their subjects and force-vaccinate them.
Austria may have backed down on their plan to mandate vaccination, but Indonesia went ahead with it[0]. Hopefully you don't view that country as uncivilized. It's true that they "only" went as far as fining people who refused, but I'm sure if you refused to pay the fine there would eventually be some arm of the government willing to use force against you.
[0] https://www.straitstimes.com/asia/se-asia/indonesia-makes-co...