how to read a web page and extract an html table?

Hello all, 

I want to read a table from a given web page. 

If I do something like

str="http://www...."      # this is the web address
aux1 <- url(str,open="rt")# open connection 
aux2 <- readLines(aux1)   # read web page 

aux2 contains the html file. 

I want to extract the table from the html file. 
Is there a function html2R, the opposite of R2html? 
How should I do this? 

Thanks, 
Adrian