The present paper introduces the analysis of the eigenvalue problem for the elasticity equations when the so-called Navier-Lamé system is considered. This system incorporates the displacement, rotation, and pressure of a linear elastic structure. The analysis of the spectral problem is based on the compact operator theory. A finite element method using polynomials of degree k≥1 is employed to approximate the eigenfrequencies and eigenfunctions of the system. Convergence and error estimates are presented. An a posteriori error analysis is also performed, where the reliability and efficiency of the proposed estimator are proven. We conclude this contribution by reporting a series of numerical tests to assess the performance of the proposed numerical method for both a priori and a posteriori estimates.