Submit a modification function to CRAN

Hi Everyone.
now I'm trying to make a new package to implement a statistics method, but because there has been a package related with the method, so I need just to modify some function in it.
I wanna ask whether anyone here knows about regulation in CRAN about submitting a new package that was build by modified a function from another package.

Can you contact the author of the existing package and ask for it to be modified? You can usually find them on Github.

Thank you in advance Mr. woodward for your response.
Yes, I can contact the author, because I know the person. and If I got the permission from the author, do you know whether CRAN will allow me to do that?

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