The mvrnorm() function in the MASS package can do this.
library(MASS)
#empirical=T forces mean and sd to be exact
x <- mvrnorm(n=20, mu=5, Sigma=10^2, empirical=T)
mean(x)
sd(x)
#empirical=F does not impose this constraint
x <- mvrnorm(n=20, mu=5, Sigma=10^2, empirical=F
mean(x)
sd(x)