Plot multiple sets of points in R

I have multiple sets of xy pairs that I want to plot. I want each set of xy pairs to be connected by a line. In other words the goal is to have multiple experimental instances each approximated by a line plotted on one plot. Also how would I colour the lines differently?

The plot function does what I want, but takes on one set of xy pairs: plot(x, y, ...)

Can this function be made to take multiple sets or is there another function for that?