Use as.numericto force date-time back to seconds from an era. Since R uses 1970 as its beginning, you must also take into account the 1960-1970 offset. Finally, of course, take care of converting seconds to milliseconds.
> mydate = as.POSIXct(874022400000/1000, origin="1960-01-01")
> 1000 * (as.numeric(mydate) - as.numeric(as.POSIXct('1960-01-01')))
[1] 874022400000