Basically you need base plates to attach the tow bar to the Mazda. They are available from a number of sources, but the parts are made by Roadmaster to match your truck with the hitch. That gets you hooked up.
In addition, you need to provide wiring to turn on stop/tail/turn lights on the truck while under tow. You can wire in the trucks own lights, or add a auxiliary set. Magnetic mount aux lights are probably the easiest.
Last, you should have an auxiliary (toad) brake that applies the truck brakes when you push on the coach brake pedal. Lot's of products available for that too. Search this forum for 'toad brake' and you should find lots of commentary.
2004 American Tradition; 2014 Buick LaCRosse
Homebase in the Ocala Nat'l Forest near Ocala, FL