USPS shipping time question?

I got a free USPS shipping package & have a question?

I have had the USPS come to my house after I scheduled a pick up one time, (to return a cell phone to Net10), my question is, the free shipping kit with the 3 boxes and 1 priority envelope I received don't have any postage on them, and I cannot get out very often to the post office, is there a way I can package my items to ship, schedule a delivery and give the postal worker cash on pick up or something of that sort? If not, is there another carrier I could go to that works this way? Something I can setup online and do from home? Thank you!
Answer:

There are machines and services that let you print your own postage. http://www.stamps.com/welcome/custom/home01/index53.html

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