The Rubicon is a version of the Wrangler (or if a 4 door, Wrangler Unlimited) model. Follow the instructions posted above. Since your Jeep was made before mid 2012, you will need to have a key in the ignition so the steering is unlocked when towing.
If your Jeep has an anti-theft chip key, have a cheap non-chip key made for this purpose. That way the steering can be unlocked, but without a chip the engine will not run more than a few seconds preventing theft.
2010 Georgetown 373
2013 Jeep Wrangler