I tried using this query below in concatenation that I found in this forum as well:
DataFrame <- sqldf("select FirstName, LastName, MiddleName, FirstName || ' ' || MiddleName || ' ' || LastName as FullName from People")
Unfortunately if for example, MiddleName has no data or NA in the row, FullName also becomes NA despite the fact there is a LastName and FirstName. Same goes with the other columns.