harrassment from absa - public humilation

I was harassed by ABSA representatives today at my home. my car was blocked in my driveway as I was exiting my home. The guys came claiming a payment in arrears only to find out it is one months instalment that was not included unintentionally in the manual payment. all payments are made via debit order.

They harassed me for 4000, not only that they shouted in the street for neighbours to hear, my character was unnecessarily attacked and I was told they can take the car any time as it is not my property. no legal documents were brought forth on this and I am considering legal action considering the emotional torture and defamation of character suffered from this incident. I was publicly humiliated by ABSA unnecessarily, my rights to dignity infringed upon