How can I exit my contract without taking a voluntary reposession?

If I return my furniture I thought I purchased through RAC Acceptance, will I face a voluntary reposession? I was told by an employee that I would if I returned the furniture. My issue with that is that this looks like a rent to own contract. It even says in black and white on the contract, "You may end this agreement at any time, without penalty, by returning the property in good condition."