Don't know exactly what kind of dataset you have, so I provide general answer.
x <- c(1,2,NA,3,4,5)
y <- c(1,2,3,NA,6,8)
my.data <- data.frame(x, y)
> my.data
x y
1 1 1
2 2 2
3 NA 3
4 3 NA
5 4 6
6 5 8
# Exclude rows with NA values
my.data[complete.cases(my.data),]
x y
1 1 1
2 2 2
5 4 6
6 5 8