I posted this in the Highlander section but it could apply here too.
Seems that there have been a few questions concerning hitch installlation on the Highlander. I took some pics and figured I'd share them here. Mine is a 2001 4cyl, but most of them are the same, including the RX. Draw Tite has their instructions on their website but the pictures for this application are crappy. It looks like a photocopy of a photocopy.
First, you need to find out if your vehicle is equipped with the Tow/Haul Prep. This package includes a larger alternator, a transmission cooler, and the trailer wiring harness. Not to be confused with the actual receiver hitch itself which is a whole different option box to check.
Click the thumbnails for a bigger pic:
OK, to see if you have the Tow/Haul Prep package, look for this blue box in the spare tire well.

If you have it great, now you have 2 options, you can either buy a receiver hitch and harness from the aftermarket, or from Toyota. Toyota includes the waring harness with the receiver hitch. I found that you cannot buy them separately, they only come together.
I had a Quality S hitch but after an accident, the insurance company replaced it with a Curt hitch. The first one sat much higher and closer to the body but the second one has much nicer powder coating and looks stronger. Receiver installation was pretty straight forward. You simpily remove the tow hooks and use the same bolt holes to mount the receiver.

I found a Draw-Tite wiring harness (P/N 18245) on
ebay for a few bucks. This harness plugs into the Toyota Harness.

To Install the Harness:
Locate the fuse box and install the fuse included with the harness

Locate and remove this plastic cover from underneath the car.

Behind it you will see a plug with a white cover on it.

Plug the aftermarket harness into this plug

Reinstall the plastic cover and route the wire loom properly (mine isn't quite right) Then tie wrap it in place.

If you don't have the Tow/Haul prep you can install a converter box which plugs into your taillights. Installation for this is different.