I've encountered these guys all my life. They are mostly small skittering puffy-stretches at a glance, but sometimes they can look like their red headed larger and snake-eating relatives at 4-5cm lengths.

They are extremely soft to the touch, as if a very light breeze just brushed off your arm hair. What I didn't know is that they are like cats in this behaviour:

House centipedes have been observed to groom their legs by curling around and grooming them with their forcipules.