(This article was first published on Learning R, and kindly contributed to R-bloggers)
It's pretty easy!plot (c(1968,2010),c(0,10),type="n", # sets the x and y axes scales
xlab="Year",ylab="Expenditures/GDP (%)") # adds titles to the axes
lines(year,defense,col="red",lwd=2.5) # adds a line for defense expenditures
lines(year,health,col="blue",lwd=2.5) # adds a line for health expenditures
legend(2000,9.5, # places a legend at the appropriate place c("Health","Defense"), # puts text in the legend
lty=c(1,1), # gives the legend appropriate symbols (lines)
lwd=c(2.5,2.5),col=c("blue","red")) # gives the legend lines the correct color and width
To leave a comment for the author, please follow the link and comment on his blog: Learning R.
R-bloggers.com offers daily e-mail updates about R news and tutorials on topics such as: visualization (ggplot2, Boxplots, maps, animation), programming (RStudio, Sweave, LaTeX, SQL, Eclipse, git, hadoop, Web Scraping) statistics (regression, PCA, time series, trading) and more...

Zero Inflated Models and Generalized Linear Mixed Models with R.
Zuur, Saveliev, Ieno (2012).