Centipedes can be beneficial to your home because they eat other insects but some people don't like them at all or want them in their house and that's okay.
To get rid of a centipede you need to either kill it onsite or catch it and release it somewhere else away from your home.
You can buy sticky traps that will cause the centipede to get stuck to it which is the easiest way of getting rid of the centipede.
Also get rid of any other insects that might be in your house because that's the real reason the centipede has taken up residence in your home because they're hungry for those insects.
Keeping your house dry as well will help prevent centipedes from coming back into your home.