I think the previous answers here offer some sound advice, but I’ll advocate the other opinion and say no, you should not mention it based on my personal experience (low gpa, didn’t mention it in SoP, got admitted).
I think your SoP should generally focus on the positives of your background and the reasons why you are a great fit for the program. Discuss your progress, as this can be a way to subtly address a troubling past and ease your reader’s worry about your potential success.
The SoP is not a place to make excuses (regardless of how valid they may be), and it certainly should not turn into a “trembling steps” narrative. My answer to this
question offers some other tips on writing an effective statement.
As an aside, my recommenders took care to address my weaknesses (like my gpa) in their letters. I recommend asking your letter writers to do the same, as this can be an effective way to dispel weaknesses when the defense is coming from a trusted academic.