Download the library from: http://cran.r-project.org/src/contrib/kinship_1.1.0-21.tar.gz
Save it anywhere.
From the directory where the library was saved, issue command: R CMD INSTALL kinship_1.1.0-21.tar.gz
Upon completion, you can type R to start the application and then issue command: library(kinship)
Note, for a system wide installation where one does not have access to installation paths for R, additional steps are needed:
Create a directory where extra libraries will be saved (e.g., extraLibs in $HOME)
Then, set the R_LIBS var in ~/.bashrc and you should be set.
