With two pairs of legs on each segment on their body, millipedes classify as arthropods. They can have between 80 and 400 legs. Millipedes won’t cause damage to furnitures, homes or food, but they can be quite a nuisance if they enter the home. They are most likely to enter households during extremely wet seasons or extreme drought. They may enter the home through cracks in doorways, windows or through the basement.