[step:Show the map $j \mapsto c_j$ is a permutation of $\{1, \ldots, (p-1)/2\}$]
[claim:The values $c_1, \ldots, c_{(p-1)/2}$ are all distinct]
[proof]
Suppose $c_j = c_k$ for some $j, k \in \{1, \ldots, (p-1)/2\}$. Then $\epsilon_j a j \equiv c_j \equiv c_k \equiv \epsilon_k a k \pmod p$, so
\begin{align*}
\epsilon_j a j - \epsilon_k a k \equiv 0 \pmod{p}, \qquad\text{i.e.}\qquad a(\epsilon_j j - \epsilon_k k) \equiv 0 \pmod{p}.
\end{align*}
Since $(a, p) = 1$, $a$ is a unit modulo $p$, so $\epsilon_j j \equiv \epsilon_k k \pmod p$. Hence either $j \equiv k \pmod p$ (if $\epsilon_j = \epsilon_k$) or $j \equiv -k \pmod p$ (if $\epsilon_j = -\epsilon_k$).
In the first case, $1 \le j, k \le (p-1)/2 < p$ forces $j = k$. In the second case, $j + k \equiv 0 \pmod p$ with $2 \le j + k \le p - 1$, which is impossible. Thus $j = k$.
[/proof]
[/claim]
Since $c_j \in \{1, \ldots, (p-1)/2\}$ and the $c_j$ are $(p-1)/2$ distinct elements of this set,
\begin{align*}
\{c_1, c_2, \ldots, c_{(p-1)/2}\} = \left\{1, 2, \ldots, \tfrac{p-1}{2}\right\}
\end{align*}
as sets, i.e. $j \mapsto c_j$ is a permutation.
[/step]