Here is a link to QTLRel on CRAN. This software provides tools for quantitative trait mapping in populations such as advanced intercross lines or the diversity outcross (DO) where relatedness among individuals should not be ignored. It can estimate background genetic variances, impute missing genotypes, simulate genotypes, perform a genome scan for putative quantitative trait loci (QTL), and plot mapping results. It also has functions to calculate identity coefficients using either pedigrees or genotype data and is especially suitable for long pedigrees. After installing the R package you can find the tutorial by typing help(package=QTLRel) when using Windows R or by looking in the the directory QTLRel/inst/doc/ in the source package if using Unix R. You can examine sample code by looking at the datasets from our prior publications.