Centipedes and millipedes are coming under the sub-phylum Myriapoda of the phylum Arthropoda.
Similarities of centipedes and millipedes:
Ø Both coming under the sub-phylum Myriapoda
Ø All are terrestrial arthropods
Ø Body divided into head and trunk
Ø Bears many legs
Ø Single pair of antennae
Ø Sensory Tömösváry organs present below the antennae