Your towing experience can only get better from that, that was the absolute worst setup you could have. Once you get a good hitch, brake controller, and mirrors towing will be a much better experience.
If I had my druthers I would have a dealer install and setup everything. You may pay more for it there but it will be done correctly. Ordering hitch parts comes with a hefty shipping cost whereas the dealer usually gets that delivered by a supplier at no cost to him. At least get an estimate for the hitch and controller installed. Setup with the trailer could be included with the cost of the hitch. If you install it and have to get him to make the adjustments you will be paying for it. Installing the brake controller if you are not already wired for it can be a pain also, but I believe you already have a plug under the dash that accepts a pre-made wiring harness. Look here:Brake Controller for 2002 Dakota by Dodge | etrailer.com
Thanks for the encouragement. Yes, I think we will do much better once all is hooked-up correctly.
We are wired for the brake controller so my husband is going to install it. The hitch on the one we are (hopefull) going to buy has the weight distribution but not sway bars so we will buy those from the rv repair place and get a tutorial on the set-up at that time.