You need to find towing brackets (Roadmaster) or a baseplate (other brands) that ties into the subframe behind the bumper. The towbar, whether rigid or telescoping, will mount to that. Then you need a lighting solution (I use magnetic towing lights).
For a Town and Country you need a transmission solution, as the van is not towable without transmission damage, as it comes from the factory.
For a vehicle as heavy as a T&C (curb weight 3900 to 4400 depending on options) you also need a braking solution, and if your motorhome was rated to tow no more than 3500 (which has been pretty common for a C in the past) you need to fix that, whether it means replacing the hitch, or beefing up the frame extensions and replacing the hitch.
A U.S.-size minivan is "lightweight" only when compared with full size trucks and SUVs. Relative to the subcompact to mid-size cars, and compact to midsize SUVs usually towed by a C motorhome, a U.S.-size minivan is quite large.
For van seating at a lighter weight, we get at least one global size minivan, the old seven seat Mazda 5, or its predecessor MPV, and it is towable if you find it with the manual transmission. There is also the first generation Honda Odyssey (size still sold in the global market) but that was quickly replaced by a larger Odyssey for North America because we don't buy many small minivans.
The new Transit Connect will also be available with seating for seven, and about 800 pounds lighter than "standard" minivan, but I don't know about towability.
