Yes. You will need a passport for everyone in your vehicle.
Also if you are planning to take your unit into Canada and back to the USA, make sure you have ALL your paper work, and it is correct and in order. You will also be subject to inspection of all vehicle's, we have been inspected and not, (I guess it depends on the "mood the world is in that day"). It is not any problem, but it may take some extra time, just do as they say, give all papers, asked for, say yes or no sir/ma'am, and everything goes smooth. We have been in and out of Canada, many times, and actually have had more problems coming back in the USA, than going into Canada
(go figure). The US side goes over every piece of paper you have with a fine tooth comb, and I guess that is extra good, considering the climate of the world today.
Hope this helps,