First of all, TAKE BACK THE CAR. You don't want any surprises from him later (e.g - he might consider selling the car on his own, and that will add more to the headache that you have)

Second, SETTLE the outstanding loan amount. This is a given no matter what you want to do, to get the bank off your back.

Then after you have paid the outstanding loan, you get to decide what to do with the car. If you can afford it, just continue paying the loan and use the car for yourself. If you already have s car, consider selling that car instead of the HRV, as you most probably will need to pay the banks if you sell the HRV due to the difference in the market price and loan balance.