My question involves an auto loan or repossession in the State of: Indiana

I was planning on selling my truck to another person. I had written a contract and myself and the other party has signed it. The other party has possession of my truck. No money has been exchanged. It has only been a week since the contract has been signed. There has been a falling out between myself and the party purchasing my truck. I want my truck back. Can i take back my truck and void the contract without getting into criminal trouble, ie. theft?