If it is an automatic transmission, you'll need to install a Neutral Tow Kit. The dealer can sell you one for $249 with installation extra. I can give you the instructions and you can make your own for less than $10, but you'll still have to go to a dealer and have the computer programmed. That might cost upwards of $199...
I personally prefer the Roadmaster base plate and the Roadmaster all terrain tow bar for my Explorer. Took me all of 2 hours to install them, and been towing for 4 years now with no problems. I also use a Roadmaster Even Brake system which works extremely well. I installed diodes in my lights and use the vehicle lights for brake/tail lights. I've not purchased a bug/rock shield so I can't attest to those.
Good luck, and if you need the Neutral Tow Kit, you can Email me at ross0737 at aol dot com.
Loren