Do we need a hitch bar with WDH?

I've been reading the forums for days, including everything I can find on WDH and I'm still a little confused about how hitching up the TM to our TV works.

The TM we are buying from Calypo is coming with a WDH. Our 2006 Sequoia has the towing package, but we don't yet have a hitch bar, ball mount or ball. Will we need a hitch bar, ball mount and ball if we are using a WDH or does the WDH slide directly into the square hitch receiver?

If we do need a hitch bar and ball mount, does anyone know how high off the ground the coupler on a 2720 with 2.5" lift bar and 15" tires is?