I went with a Remco towbar with a Blue Ox base plate. See: Tow Bar + Base Plate package.
I did all the installation myself. Installing the base plate was not difficult -- remove some stock Honda plates and bolt on the base plate using the same mounting holes.
The lights were a different story... I decided to run new wiring to a separate set of bulbs that I mounted inside the CR-V light housings. It was a big pain. If I had to do it over, I would probably go with the magnetic lights. They're a little bit more expensive but don't require extensive installation and can be easily moved to another vehicle.
The brake system was pretty easy to install. Mine is the older 'box in front of the seat attached to the brake pedal' system that has a vacuum pump. This system has minimal connections to the Honda wiring -- just power and brake light switch.
As for the CR-V, if you have an automatic be sure to follow the 'pre-towing' instructions to prevent damaging your transmission.
Hope this helps.