[R] time series regression

[yyan liu]

Hi:
  I have two time series y(t) and x(t). I want to
regress Y on X. Because Y is a time series and may
have autocorrelation such as AR(p), so it is not
efficient to use OLS directly. The model I am trying
to fit is like
Y(t)=beta0+beta1*X(t)+rho*Y(t-1)+e(t)

e(t) is iid normal random error. Anybody know whether
there is a function in R can fit such models? The
function can also let me specify how many beta's and
rho's I can have in the model. 

Thx a lot!

liu