If your Hyundai's rear axle is operable, you can tow your vehicle with the rear wheels on the ground. Due to its front wheel drive, the Hyundai is a relatively easy vehicle to tow with the front wheels up. Before doing so, you should release the parking brake.
If the rear axle is defective, the vehicle must then be towed with the rear wheels off the ground. Before attempting this, a dolly should be placed under the front wheels. If a dolly is not available, and you still have to tow it with the rear wheels up, then you should first shift the transaxle into Neutral and then lock the steering wheel so that the front wheels are pointing straight ahead. In such a position, the vehicle must not be towed at speeds above 35 mph or for more than short distances (50 miles). It's critically important that you observe these limitations to prevent damage to your transaxle due to inadequate lubrication.