You need to look in the Honda owners manual index for "towing behind a motorhome" go to that page in the manual and read the instructions and follow it as written. And you do this after you get all hooked up with the tow bar.
with the engine running and gear shift in PARK, foot on brake, shift to reverse, then to Neutral, then to Drive, then to 2nd, then to 1st, then back up to 2nd, then up to Drive, then up to Neutral and stop there. let the engine run for 3 minutes and then shut the ignition off one notch which leaves the steering in the unlocked position. Good for 8 hours but IF I am traveling all day I will usually repeat the procedure at lunch time just to make sure the tranny remains lubricated. Do this at the start of every day you are towing. One hint if at any time you go past neutral on the way shifting upward, start the procedure all over again to put the tranny in the towing position. Its all in the manual, read it. Towed my CRV over 40,000 miles, no problems.