Yep, that should do it. Does the kit come with pins? If no, use the largest size pins / bolts that will fit and use grade 7 bolts or better if you buy. The law requires lights on the towed vehicle. You can buy magnetic lights that you can just slap on the rear of the towed vehicle; they'll hook into the trailer hitch wiring of your towing vehicle. Check your local WalMart or U-Haul place. Also, watch the angle on your tow bar -- you want it to be more-or-less horizontal. Get a hitch with the right amount of drop or rise for the towing vehicle and you are good to go.
I regularly flat tow my jeep behind my motorhome. I use a sturdier setup than what you are showing, with the tow bar mounting on brackets that bolt directly to the frame. But I've seen jeeps towed with a setup similar to yours, so no problem as long as the bumper is sturdy and it is well bolted to the frame.
I also have an extra bulb installed in the tail light housings with wires run through the jeep to a plug at the front grill. If you think towing your jeep on long hauls is going to be a regular deal I recommend a similar setup.