go to www.drawtite-hitches.com.  That's where I got mine for my 2003 Sedona.
Make sure you also get the wiring kit, which REALLY  simplifies
installation.  With it, it is plug and play.  On mine you had to remove the
right tail light and plug in the connector between the car's wiring harness
and the light.  Remove the center plastic piece at the floor and run the
wires under it.  Then open the access plate on the left side where your rear
window washer tank and jack are and plug in that side.  Everything hides in
that hatch until you need it.  I assume it will work the same for yours.
http://search.cartserver.com/search/search.cgi?cartid=s-1547&bool=AND&category=l
_drawtite_search&maxhits=10&keywords=2006&keywords_2=Kia+Sedona&GO=GO%21

Tom