I came across an interesting thread on Reddit which asked how centipedes control their legs, and it is quite amazing because their brain sends a signal to walk, and then each segment has a small brain which controls its own legs, and acts as a brain to it.
Male specimens initiate reproduction by churning out tiny webs. They use these webs as vessels for packages of sperm, which they leave for female centipedes to retrieve. The females then insert these packages into their genitals. They set their eggs down below logs, stones or tree bark, and sometimes even in the dirt. Many female centipedes do carefully watch over their eggs, but this behavior depends on the exact species. Egg-laying occurs in warm times of the year.