Try this also:
k<-"A B C (123-456-789)"
regmatches(k,gregexpr("*.(\\d+).*",k))[[1]]
[1] "(123-456-789)"
With suggestion from @Arun:
regmatches(k, gregexpr('(?<=\\()[^A-Z ]+(?=\\))', k, perl=TRUE))[[1]]
With suggestion from @akrun:
regmatches(k, gregexpr('[0-9-]+', k))[[1]]