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.

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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?