In spite of the external difference, the bumper from the first and second generation AcuraRDX  is attached practically the same.

How to remove front and rear bumper Acura RDX (2006-2012)

Front bumper

radiator grill mounting scheme Acura RDX (after 2012)

front bumper mounting scheme Acura RDX (after 2012)

Rear bumper

rear bumper mounting scheme Acura RDX (after 2012)