Your owners manual should have instructions for how to flat tow but here is what my owners manual said.
Put transfer case in neutral and transmission in park for auto or in gear for manual, turn ignition switch to the unlock position, btw there should be no lights on the dash when just unlocked. You can use a basic magnetic tow light kit from Harbor Freight or Northern Tool to take care of tail light requirments. If you plan on towing frequently you can install a diode pack, found through most RV dealers, to allow using the Jeeps lights themselves, this is what I did years ago and it worked great. As far as a tow bar you can use simple/cheap ones that will do the job or high $$$ ones that are stupid easy/simple to use. The cheaper ones are harder to hook up to the tow vheicle. I've used/have both and I think if you flat tow a lot the expensive ones are worth it for the ease of use. I have a Warrior collapsing tow bar and brackets if your interested.