I have a data frame I read from a csv file that has daily observations:
Date Value
2010-01-04 23.4
2010-01-05 12.7
2010-01-04 20.1
2010-01-07 18
You can use the imputeTS, zoo or forecast package, which all offer methods to fill the missing data. (the process of filling missing gaps is also called imputation)
imputeTS
na.interpolation(yourData)
na.seadec(yourdata)
na.kalman(yourdata)
na.ma(yourdata)
zoo
na.approx(yourdata)
na.locf(yourdata)
na.StructTS(yourdata)
forecast
na.interp(yourdata)
These are some functions from the packages you could use.