Hi Prachidev90,
you can see to OPEN STREET MAP ROUTING SERVICE, it's the only free way (i'm trying it in last month) to calculate distance between two geolocate points throught the streets.
Through Routing you can find a link to R package named Routes/OpenRouteService-r.
There are a lot of functions and one calculate distance from two geolocate points through the streets, using ors_matrix but it need a subscriptions and a token to openrouteservice[dot]org.
Another way is osrm package.
hope this help
bye
MC