The best way to get someone unsuck is with a winch. Less shock and wear and tear on both vehicles.

If you don't have a winch, then I'd use a nylon strap. There is a technique to using a strap. There are good threads here in the archives, and I'd suggest you read them.

The only time I'd use a chain or cable (non-winching) between two vehicles is if I was towing one (without resistance).

1977 CJ-7, fiberglass body, AMC 360 w/ headers, DUI ignition, Edelbrock intake and Holley 4150 carb, TF999, Dana 300, 4.56 gears lockers, York air comp, 4" susp lift, 2" body lift, BFG 35" M-T tires, Megashifter, AGR pump & box, REP8000 winch.