I would not do this as a permanent solution. My experience is those adapters often fall out, and since it's in the rear, you'd never see it to know if you'd lost your lights. It sounds like you are wiring up just a simple 4-wire light system and not a 7-pin style with aux power and brake power, so I assume you are towing a very light trailer. The Rav4 manual recommends trailer brakes with anything over 600lbs (very conservative,sounds to me). Be aware if you have a heavy trailer, you really need to use a trailer equipped with trailer brakes and install a more robust wiring system properly and have an electronic control unit at the dash.
If you are not totally experienced with trailering, get some tips from an experienced friend, visit a hitch shop, or do LOTS of on-line study. It is not terribly hard, but there are a number of hitch, weight, and wiring issues to understand so you are totally safe and don't damage the trailer, your vehicle, or the trailer contents.
In two-wire power, red is usually positive, and black is usually ground. If your colors are red/white, then red is power (+), white is ground (-). Keep in mind you also have to tap into your brake and turn signals to have working signals. If your car has the Tow-prep package, you can get a kit from Toyota that will just plug into your harness and you are done.
Another option, better than a cig. adapter, is to splice into the lighter's power at the wire, then run it back to the rear tailgate where you need it. Much more reliable and safer than loose wires through the cargo or passenger area. Just run the wire under the carpeting - very easy to tuck it under there.
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