(This article was first published on Getting Genetics Done, and kindly contributed to R-bloggers)
I've been using GenABEL for some time now for GWAS analysis using related individuals. It has an excellent set of functions for estimating a kinship matrix from a dense marker panel and then using this in a linear mixed effects model to allow for related individuals in the analysis of a quantitative trait. GenABEL also has many other nice features for analysis and visualization of GWAS data that
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Zero Inflated Models and Generalized Linear Mixed Models with R.
Zuur, Saveliev, Ieno (2012).