Centipedes prefer damp environments, so the first suggestion would be to put a dehumidifier in your basement.. a dehumidifier can also fix a lot of basement-related problems.

It also wouldn’t hurt to go around and figure out where they could potentially be getting in to the house. You can use caulk to fill any holes, but I like the “triple expanding” or “maximum expansion” foam that comes in a spray-paint-looking can. Caulk would be a lot less messy for small cracks and gaps, but the foam is just fun for some reason.

If that doesn’t do the trick, there are sticky traps (just seems messy and like too much work) and sprays. Since pesticide/insecticide/poisons scare me a bit, I’ll leave the research on those up to you if it comes to that.