The dealer only installed the light harness set up.
Looking at the diagrams for the light harness, it looks like an involved process. However, all they did was tap into the harness at the bumper and charged me ~$300. I could have done it for $20
They had it done in 30 minutes...I didn't even get home from dropping the van off and they called to tell me its done.
The service manager told me to hook up a brake controller according to the brake controller's instructions.
When I get one, I'll hook it up and post about it.