A centipede, and most bugs, is a rare thing in a potted houseplant. I've had many many plants for years and almost never had a bug of any kind.. But any bug can get lucky and find your dirt once in a blue moon, maybe it sat outside at some point. My mom's old house had house centipedes, probably not what you saw.
I'd probably ignore it.
What is the plant? I'd take it outside, gently pull the plant, poke off any loose soil and hope the centipede comes with it. put back in pot and refill with fresh good potting mix. Depending on the plant, this could be a shock.