That description is correct. On the front of the camera there is a large viewfinder window and a second much smaller window a few centimetres apart. A pair of mirrors or prisms angled at 45º takes the view from the smaller window and superimposes it in a little patch in the centre of the large viewfinder. In other words, you can see the subject through the viewfinder, and you get a duplicate image of it in the little patch.
The lens is mechanically coupled to the rangefinder mechanism, so that as you turn the focussing ring the duplicate image in the centre patch moves left and right. When the two images line up, your subject is in focus. There are lenses that aren't coupled to the rangefinder, but these tend to be very wide angle, which means they have so much depth of field that focussing is almost optional.
The main differences compared with an SLR are:
1. Much brighter viewfinder, and rather than seeing maybe 95% of your scene as you do with an SLR, you can see beyond the edges of the picture
2. No mirror flip up when you release the shutter. This means there is less movement going on, which helps you with getting sharp images at lower shutter speeds than with an SLR. I'm happy down to 1/8th of a second handheld with my rangefinder, maybe 1/4. Low light and no flash is rangefinder territory
3. No mirror flipping up also means that you can see through the viewfinder as the shutter is released. This is especially useful with slow shutter speeds, and some people find it helps them get exactly the moment they want to capture
4. Accurate focussing is easier. Some people will dispute this, but I use both and I'd say that the rangefinder wins hands down. The big bright viewfinder helps
5. Most people can't tell a rangefinder from a point and shoot, so you don't necessarily stand out like you would if you were holding an SLR. Combined with the low light/no flash capability, this makes rangefinders popular for candid and street photography
6. They are fun to use! [edit: not that SLRs aren't fun; rangefinders are just different and unusual]
This is what I've got:
http://cameraquest.com/voigtr2ar3a.htm
Thomsk