The missMDA package is a package dedicated to:
impute missing values in continuous data sets using the PCA model, categorical data sets using MCA, mixed data using FAMD
generate multiple imputed data sets for continuous data using the PCA model, for categorical data using MCA
visualize multiple imputation in PCA and MCA
You can see more information about the package with the paper published in the Journal of Statistical Software:
Josse, J., & Husson, F. (2016). missMDA: a package for handling missing values in multivariate data analysis. Journal of Statistical Software, 70(1), 1-31.