You need to sort RDD and take element in the middle or average of two elements. Here is example with RDD[Int]:
  import org.apache.spark.SparkContext._
  val rdd: RDD[Int] = ???
  val sorted = rdd.sortBy(identity).zipWithIndex().map {
    case (v, idx) => (idx, v)
  }
  val count = sorted.count()
  val median: Double = if (count % 2 == 0) {
    val l = count / 2 - 1
    val r = l + 1
    (sorted.lookup(l).head + sorted.lookup(r).head).toDouble / 2
  } else sorted.lookup(count / 2).head.toDouble