(Length: 1″ – 2″) The color of the centipede varies depending on the species, but most are brown to orange brown with many body segments. Unlike millipedes, centipedes only have one pair of legs per segment. They usually live outdoors in dark, moist areas and are seldom seen inside homes, except for the house centipede which is recognized by its extremely long legs. The house centipede is usually found where dampness occurs. They are nocturnal and when disturbed move swiftly towards darkened hiding places.