Another option using Xpath.
library(RCurl)
library(XML)
theurl <- "http://en.wikipedia.org/wiki/Brazil_national_football_team"
webpage <- getURL(theurl)
webpage <- readLines(tc <- textConnection(webpage)); close(tc)
pagetree <- htmlTreeParse(webpage, error=function(...){}, useInternalNodes = TRUE)
# Extract table header and contents
tablehead <- xpathSApply(pagetree, "//*/table[@class='wikitable sortable']/tr/th", xmlValue)
results <- xpathSApply(pagetree, "//*/table[@class='wikitable sortable']/tr/td", xmlValue)
# Convert character vector to dataframe
content <- as.data.frame(matrix(results, ncol = 8, byrow = TRUE))
# Clean up the results
content[,1] <- gsub(" ", "", content[,1])
tablehead <- gsub(" ", "", tablehead)
names(content) <- tablehead
Produces this result
> head(content)
   Opponent Played Won Drawn Lost Goals for Goals against % Won
1 Argentina     94  36    24   34       148           150 38.3%
2  Paraguay     72  44    17   11       160            61 61.1%
3   Uruguay     72  33    19   20       127            93 45.8%
4     Chile     64  45    12    7       147            53 70.3%
5      Peru     39  27     9    3        83            27 69.2%
6    Mexico     36  21     6    9        69            34 58.3%