R help - Aug 2010 - contours: lines and colors

Is there a way to get both contour lines and filled colors on the same
contour plot?  My group here doesn't want me to use the lattice package
(long story).  I tried over-plotting with contour() on top of
filled.contour().  This will work in principle, but the required
manipulation of the plotting parameters makes it totally impractical, as
far as I can tell.  Thanks.