I just follow the instructions in the Owners Manual. Well, almost. For me, the FIRST step is to connect the towbar to the motorhome and the Jeep. That way, I don't have to set the parking brake, which means I don't have to worry about forgetting to release it. I also put the transmission in 6th gear. Then, if the unthinkable and nearly impossible should happen, and the transfer case should somehow get in gear, the engine won't be turning at some ridiculously high RPM while I am towing the Jeep at 60 MPH!
Yes, I know it is nearly impossible for that to happen. Nearly. But, I read once that it DID happen. 6th gear works.