When I downloaded IOS 7 today, I accidently set up a passcode for locking the phone.  Can I "undo" that?

Today I was prompted to upgrade to IOS 7 on my Iphone.  I accidently set up a passcode for locking the phone everytime the screen goes dark.  Can this be "undone"?  Very annoying as I use this phone for personal, nothing important matters & the passcode I set up is rather long?  Any help appreciated. 

Go to Settings > General > Passcode Lock and undo it there.

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