This Draw-tite trailer hitch will fit a 2002-2006 CRV. Never installed. I brought it in and never used it.
http://www.draw-tite.com/content/products.aspx?lvl=3&parentid=1000&catID=1040&part=75690
Here's the website for it. No drilling required. Installs in 30 minutes. Mounting hardware included.
or e-mail