Unless you are from a GCC country you need a visa. Tourist visas are available for group tours. Transit visas are easily available that allow you to pass through for no longer than 72 hours. You will need proof of a vehicle and/or airline tickets. They can be had for free or very cheaply.
Evidence of a visit to Israel may result in refusal of a visa/entry Saudi Arabia visa information Saudi Arabia Embassies and consulates worldwide
Saudi Arabi Transit Visa