If you wish to reprint something by James Rachels, see who holds the copyright. If the copyright belongs to James Rachels, then you should contact his literary executor, David Rachels, at firstname.lastname@example.org. David is James Rachels' older son and is a professor of English at the Virginia Military Institute. Usually, David grants requests and charges no fees.
If the work is not copyrighted to James Rachels, then you should contact the copyright holder (usually, this is the original publisher of the work).
If your questions are more philosophical in nature, contact Stuart Rachels at email@example.com. Stuart is James Rachels' younger son and is a professor of Philosophy at the University of Alabama.