The development of a computational method for infer- ring haplotypes from genotypes has received much atten- tion. This paper proposes an O(nm3 ) time algorithm for the haplotyping problem for non-recombination pedigree data containing missing members, where n is the number of members and m is the number of sites. This result improves on the best prior work by a factor of n2 while additionally handling missing member situations. This algorithm uses the Mendelian laws of inheritance to infer all recoverable haplotypes and missing members. This algorithm has also been tested on real and simulated data and the results show that it can recover most missing members as well as infer haplotypes for all members very quickly.