For estimation of genetic parameter may software packages and algorithms are developed by different scientists. Harvay (1990) and wombat use sire and animal modal, respectively for estimations of parameters. Transcript for estimation of these parameters can b also written in R package. Thanks.
For traditional genetic parameters, you can use DMU, Wombat, Asreml, and blupF90 as other dear friends recommended, also for genome-based or array-based genetic parameters there are GCTA software and GAPIT R package according to my knowledge.
You can use some R ( such as https://cran.r-project.org/web/packages/pedigreemm/pedigreemm.pdf) or DMU packages, they are free. Asreml-R is free (this time) and easy to use.
For estimation of genetic parameter may software packages and algorithms are developed by different scientists. Harvay (1990) and wombat use sire and animal modal, respectively for estimations of parameters. Transcript for estimation of these parameters can b also written in R package. Thanks.