I want to return a car to the bank and drop off the keys so they do not come to my house and pick it up and embarrass my kids. If I do this, do I need to write some kind of document stating my intent and vehicle data included and ask the bank to sign it like a receipt? Should I bring a witness or notary with me?

Any advice is appreciated. It is a terrible thing to have to do and I want to make sure I do it in the proper way.