So I looked it up for you, and of course, the alleged meaning is as precise and helpful as your standard USA Today horoscope.
Centipedes
To see a centipede in your dream suggests that you are letting your fears and doubts hinder you from making progress and achieving your goals. You need to stop thinking negative thoughts.
You need to stop thinking negative thoughts. Well, there you have it. Problem solved.
This is odd. I freaked wolfling yesterday by adding a line about a swarm of transparent centipedes to our co-written story. A line which just popped into my head... perhaps fandom's collective unconsciousness is meme-infected with many legged insects ;-)
I occasionally have a recurring nightmare about crickets (which I won't share, 'cause ew!) that leaves me creeped out for days on end, so I can definitely sympathize.
Try thinking of them by the Swahili name - chongololo. No idea of the spelling but I think it sounds cheerful and friendly - sort of more like some cartoon dancing rendition than the slinky orange foe that trickles across your foot far too fast and... I'm not really helping, am I.