Recently, the lqmm package "Linear Quantile Mixed Models" has been uploaded on CRAN. Although I have never used it, the lqmm package seems to do what you want.
This presentation from the useR! 2011 conference shows some examples of the package. Here is a description of the package taken from the useR! 2011 conference abstracts:
Conditional quantile regression (QR) pertains to the estimation of
unknown quantiles of an outcome as a function of a set of covariates
and a vector of fixed regression coefficients. In the last few years,
the need for extending the capabilities of QR for independent data to
deal with clustered sampling designs (e.g., repeated measures) has led
to several and quite distinct approaches. Here, I consider the
likelihood-based approach that hinges on the strict relationship
between the weighted L₁ norm problem associated with a conditional QR
model and the asymmetric Laplace distribution (Geraci and Bottai,
2007).
In this presentation, I will illustrate the use of the R package lqmm
to perform QR with mixed (fixed and random) effects for a two-level
nested model. The estimation of the fixed regression coefficients and
of the random effects' covariance matrix is based on a combination of
Gaussian quadrature approximations and optimization algorithms. The
former include Gauss-Hermite and Gauss-Laguerre quadratures for,
respectively, normal and double-exponential (i.e., symmetric Laplace)
random effects; the latter include a modified compass search algorithm
and general purpose optimizers (optim and optimize). Modelling and
inferential issues are detailed in Geraci and Bottai (2011) (a
preliminary draft is available upon request). The package also
provides commands for the case of independent data.