I could not access the link provided by @EddieSanders but I think this link is probably to the same solution: http://tolstoy.newcastle.edu.au/R/help/02a/0471.html
underlined <- function(x, y, label, ...){
text(x, y, label, ...)
sw <- strwidth(label)
sh <- strheight(label)
lines(x + c(-sw/2, sw/2), rep(y - 1.5*sh/2, 2))
}
dummy <- c(4, 9, 6, 5, 3)
barplot(dummy)
text(4, 8, underlined(4,8,paste('Average value', mean(dummy))), font=2)

EDIT:
This will underline just the mean value:
underlined <- function(x, y, label, ...){
text(x, y, label, ...)
sw <- strwidth(label)
sh <- strheight(label)
lines(x + c(-sw/2, sw/2), rep(y - 1.5*sh/2, 2))
}
dummy <- c(4, 9, 6, 5, 3)
barplot(dummy)
text(4, 8, paste('Average value', underlined(4.9,8,mean(dummy))))