what are the laws and procedures in the state of california when having your vehicle repossed?

my vehicle was repossessed August 11,08.my boyfriend did not know what was going on and heard me yelling so he came to the door of our home with his gun,he did not point or even say anything .he realizes whats going on and gos back in side sets it down and comes back out.due to all this the company will not allow us to pick up or possessions from them,my finance company tells me call the recovery company who hired the repo company,they tell me one thing ,just to call the repo company again and be told the recovery company lied stating the did not say what i was told.if im correct state of california says you have 20 days to get your vehicle back upon payment before it gos to auction.who can i really believe?