Do you know if the vehicle has the factory tow package? The tow package is kind of misleading because it does not include the hitch or the trailer wiring. What it does include is the a transmission cooler and the control box for the wiring. The control box on mine was under the cargo area with the spare tire.
If you have the blue box, you can buy a harness that connects to this box and out to the trailer.
If you don't have this box, there are trailer harnesses that tap into the tail lights go into a logic box, then out to the trailer.
I actually have both systems. I bought the one that taps into the lights first. It had a failure, then I found the factory box. I am using that one now. Check to see if you have the tow package, look for the transmission cooler in the engine compartment anf for the trailer harness box in the rear. If you have it, go with that method. The reason why I have both systems is because the first one (that taps into the tail lights) failed.
Check this link for pics:
How To: Install HIghlander Tow Harness