The package "gatepoints" available on CRAN will allow you to draw a gate returning your points of interest.
The explanation is quite clear for anyone who reads the question. The link simply links to a package that can be used as follows:
First plot your points
x <- data.frame(x=1:10, y=1:10)
plot(x, col = "red", pch = 16)

Then select your points after running the following commands:
selectedPoints <- fhs(x)

This will return:
selectedPoints
#> [1] "4" "5" "7"
#> attr(,"gate")
#> x y
#> 1 6.099191 8.274120
#> 2 8.129107 7.048649
#> 3 8.526881 5.859404
#> 4 5.700760 6.716428
#> 5 5.605314 5.953430
#> 6 6.866882 3.764390
#> 7 3.313575 3.344069
#> 8 2.417270 5.217868