Double check on the newer Jeeps, and your specific model, but you should have either the NV231 or NV241OR (Rubicon) at least from 88 to 2006, which means flat towing is pretty simple and straight forward.
You need safety chains and lights for sure, and legally are required to have a braking system in the towed vehicle. I don't think it's a bad idea, but I've never had one. I'd look into the Brake Buddy as a drop in solution.
Like any towing situation you want to be extra careful, leave extra stopping room, and realize that people respect you less the bigger you are (go figure!).
Drive up (2wd)
T-case in Neutral
Manual in 1st or Auto in Drive
Start the Jeep if it's not already running (ensures T-case is not bound)
Put the Auto in Park, leave the Manual in 1st
Turn off the Jeep, but only 1 click (Accessories - Key Out - Unlock Wheel - Run - Start (returns) ... you want Unlock Wheel)
Make sure the parking brake is off
Double Check all Connections and safety chains
Test aux lights
Remember you cannot back up. Not at all. People will say, well you can a little, or a foot or two is OK, I've even known people to put their spouse in to hold the wheel. Just don't even try it- the physics are all wrong and you'll break something or stress something that will let go later.
Remember you can always unhook and rehook, provided you didn't already try to back up in which case it will be nearly impossible. DON'T BACK UP.
That also means you need to plan ahead. Nothing is worse than realizing you just pulled in to an overstuffed gas station with a postage stamp lot and that the "exit" is actually a sidewalk ramp.
The only two times I've had to unhook are in the photo above where it was a lot steeper than I thought, and once at a truckstop where they had a cable across the driveway to the truck side, which I couldn't see until I was comitted.
The transfer case in Jeeps is what makes it really easy. With the current Atlas II I have a 300 mile range before having to start the Jeep to lubricate, and other vehicles don't even have that. With the stock Jeep transfer case you put it in neutral and forget it.
I've towed my wrangler with 31" ATs, 32" Mud tires and 35" Mud tires. The front tires have worn heavily or cupped when flat towing. I'm sure an alignment would have prevented most of the wear problems, but you might be in for a set of tires.
With the exception of the 35s (weight and rolling resistance) it can be hard to remember the Jeep is back there, but it's less wide than the van and I've rarely had problems with turns and all those have been misjudgements on my part.
I wouldn't do this because of the chance of getting stuck and blocking traffic, but this goes to show that it's not the towed vehicle that is limiting: