Hi Lee Anne,
There are two main ingredients to towing any vehicle including your CRV, a tow bar set-up, and a braking set-up.
There are many different braking systems with many variations. Some are low-cost, some are expensive (for a good reason). Some are interchangeable for people who use it in more than one tow vehicle. Some are more simple to install but inconvenient to use. Others are complicated to install, but easy to use. Each system has it's own pros and cons. Because of all the flavors of systems, it is not practical to provide a list of components.
The towing set-up requires these basic components.
1) hitch on the motor home, rated for the weight of your CRV (you have this)
2) a tow bar
LIKE THESE (the long 3-point connection between your PC and CRV)
3) a tow bar bracket (also called a base plate) kit
LIKE THESE TWO CHOICES specific to your CRV (it is permanently mounted to your CRV)
4) safety cables (often blue colored)
5) an electrical connection cable between vehicles, often referred to as the umbilical cord (often red colored)
6) required pending the system, a brake-away cable
7) as-needed, a tow bar offset receiver (used to "level" the tow bar)
There are a number of tow bar brands. Roadmaster and Blue Ox are two very popular ones. One thing certain, don't buy the lowest priced ones
LIKE THIS ONE because you will soon replace it with the right one.
Here is a picture of my towing set-up, presented for reference only. Your CRV would naturally be a bit different. I have all the items I listed.
I selected
THIS TOW BRAKING SYSTEM back in 2009 and installed it myself. It works well, I like it, but I wonder if there are better (smarter) systems available today. My tow brake setup brakes simply on/off. I would prefer a tow vehicle brake system that brakes harder as my PC brakes harder, brake less with less PC braking.

Now as for your CRV itself, It might require an extra transmission fluid pump to circulate trans fluid while being towed, and it might not. You might have to start your CRV every 500 miles and change gears standing still while remaining connected to your PC, required to circulated transmission fluid every so-often. It's all about protecting your CRV transmission from the towing process. You don't want to overlook such requirements.