In fact this was mentioned in The Lord of the Rings, though perhaps in not as much detail. This comes after the Ring is destroyed, and everyone is celebrating in Minas Tirith. Arwen and a bunch of other elves have just arrived, and Frodo has gone to talk to Aragorn and Arwen:
The Queen Arwen said: "A gift I will give to you. For I am the daughter of Elrond. I shall not go with him now when he departs to the Havens; for mine is the choice of Luthien, and as she so have I chosen, both the sweet and the bitter. But in my stead you shall go, Ring-bearer, when the time comes, and if you then desire it. If your hurts grieve you still and the memory of your burden is heavy, then you may pass into the West, until all your wounds and weariness are healed."
The Lord of the Rings Book 6 Chapter 6: Many Partings
So when Arwen, like Luthien of old (with whom she was often compared in beauty), chose the mortal life with the man she loved, she managed to arrange for Frodo to take her place if he wanted to.
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