The only reason this requires more legwork at the moment than usual is that there isn't (yet) an RODBC binary for Mavericks.
Even so, you will need a driver and to set up a DSN. I have always used the drivers from Actual Technologies (not free) and have been very happy with them. Otherwise you'll have to download and compile iODBC or unixODBC from source.
However, you'll still need to compile RODBC form source, and that will require the iODBC header files, which Apple apparently no longer supplies.
If you download the latest iODBC source and then either set your search paths to the location of the sources, or simply place the header files in /usr/include and the libiodbc.a file in /usr/lib. Then you should be able to compile RODBC from source.
Finally, aside from the temporary hiccup regarding the lack of a Mavericks binary for RODBC, all of this is explained in incredible detail in the RODBC vignette.
与恶龙缠斗过久,自身亦成为恶龙;凝视深渊过久,深渊将回以凝视…