As always, double check your manual, but...
Yes, that's how we tow our rear-wheel drive 2010 (Car-V).
You'l also need either to pull a fuse to shut down use of the battery (or install a switch - much easier to deal with) or to add a charge line from MH to the toad.
Again, the particular fuse is listed in the user manual (recreational towing?).
Still in the manual - there is a specific procedure to getting the toad ready to travel: run for a few minutes, use ALL gears, and be SURE to put into neutral FROM Drive. Shifting from Reverse to Neutral and then towing will damage the transmission, according to my manual.
Enjoy the GO!
Keith & Bunny, and pups Dylan & Arlo
2013 Palazzo 33.2 (Rev Twoey), 2010 Honda CR-V