Those towing Hondas, please be sure to check your owner's manual for the proper procedure. The link to the 2009 CRV posted by F1bNorm is the procedure which the original poster claimed. However, for other Hondas, the procedure posted by Othertonka is the correct process. Don't take short cuts. It won't end well for your transmission.
In addition to the pre-tow shift procedure, Honda also requires that transmission fluid change intervals be increased since the odometer does not show the additional mileage accrued while towing.
~Rick