We get HUGE ones in our finished basement – my daughter runs upstairs and thinks they are SNAKES!
There are poisons, if you are into that, but put in a DEHUMIDIFIER, since they really want the damp and dark. Also, if you have any place NEAR the exterior of your home, like a pile of leaves, branches, wood, debris, etc. you will want to get rid of it, because they could infest there, and then move into the house through various cracks.
One of the insecticides can be spread around the outside perimeter of your home, and it lasts for months. If they are already in your house, use sticky traps where you think they are to find out how they are getting in. Then seal those cracks or spaces.
You can then use Boric Acid which isn’t too bad if you have pets.
The centipedes are looking for live things to eat – do you have lots of spiders or other things? Because if you get rid of the food source, the centipedes will be gone, too.