What I normally do is create a long cube, place it at the midpoint between the two end points, and use point object to align it to one of the end points.
But in the case of a tow rope, it would be much more clever to make a chain and have it dynamically respond to swaying, jumps, etc. You can do this in many ways:
1. Use the above example to make a series of linked cubes.
2. Make a mesh object and dynamically tweak it inside of a memblock.
3. Create a series of triangles and adjust them on the fly.
4. Make a rope object and glue extra limbs to create a chain.
I'm sure there are other ways as well.
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TAZ