An autonomous HAHO (high altitude, high-opening) parafoil system design is presented as a solution to the final descent phase of an on-demand International Space Station (ISS) sample return concept. The system design is tailored to meet specific constraints defined by a larger study at NASA Ames Research Center, called SPQR (Small Payload Quick-Return). Building on previous work in small, autonomous parafoil systems development, a SPQRcompatible evolution of an existing advanced parafoil delivery system is designed, built, and test-flown deployed from unmanned air vehicles and high-altitude balloons. Results of the preliminary tests of the original and SPQR-compatible systems are presented, and applicability of the test article to actual spaceflight conditions is discussed.