is a link to a "Towing 101" article by Blue Ox. You will probably be interested in the section on tow bars as opposed to dollies and trailers since your CRV is towable 4 wheels down. Hopefully, the article will give you a starting point for more specific questions.
There are a lot of good towbars out there, but Blue Ox is a sponsor of our forum and Blue Ox is carried by RV Upgrades, another sponsor.
As far as lights go, there are basically 3 ways to go.
1. Magnetic lights
2. Add separate sockets and bulbs to the existing tail light assemblies of the toad
3. Use existing toad tail and brake light bulbs with diodes to prevent back flow from the toad to the motorhome
In summary, you will need a tow bar and a plate or mount to fasten the tow bar to the toad along with the appropriate safety cables. You will need tail and brake lights and turn signals for the toad along with the appropriate plugs and a cable. A supplemental braking system may or may not be required depending on your state's laws, but I recommend a good toad brake with breakaway protection. There are lots of good ones, including one from another forum sponsor, SMI.