1
Remove any debris atop the soil of the houseplants, and limit the amount of water you're providing them. Allow the soil to at least dry to the touch before watering them again. This helps discourage centipedes from finding refuge in your houseplants.
2
Vacuum up centipedes if you see them, including on the soil of your houseplants. One quick and purposeful swoop over the top of the centipede gets rid of it with little disturbance to the soil.
3
Place sticky glue traps, such as those used to catch ants or roaches, next to the baseboards in each corner of your house that's adjacent to the outdoors. Place them next to the houseplants that centipedes frequent as well. Centipedes that touch the traps as they come out of their hiding places to look for food stick to them and die.
4
Control other pests in your home, such as spiders, roaches and flies, to reduce the centipedes' food source. Clean up food, remove clutter, and use traps, as necessary. Making your entire home unfavorable for centipedes helps get rid of them and evicts them from your houseplants as well.