In genetic research of chronic diseases, age-at-onset outcomes within families are often correlated. The nature of correlation of age-at-onset outcomes is indicative of common genetic and/or shared environmental risk factors among family members. Understanding patterns of such correlation may shed light on the disease etiology and, hence, is an important step to take prior to further searching for the responsible genes via segregation and linkage studies. Age-at-onset outcomes are different from those familiar quantitative or qualitative traits for which many statistical methods have been developed. In comparison with the quantitative traits, age-at-onset outcomes are often censored, i.e., instead of actual age-at-onset outcomes, only the current ages or ages at death are observed. They are also different from qualitative traits because of their continuity. Because of the complexity of correlated censored outcomes, few methods have yet been developed. A traditional approach is to impose a parametric joint distribution for the correlated age-at-onset outcomes, which has been criticized for requiring a stringent assumption about the entire distribution of age at onset. The purpose of this paper is to describe a method for assessing familial aggregation of correlated age-at-onset outcomes semiparametrically, by use of estimating equations. This method does not require any parametric assumption for modeling the age at onset. The estimates of parameters, including those quantifying the correlation within families, are consistent and have an asymptotic normal distribution that can be used to make inferences. To illustrate this new method, we analyzed two age-at-onset data sets that were obtained from studies conducted in the States of Washington and Hawaii, with the objective of quantifying the familial aggregations of age at onset of breast cancer.