The giant desert centipede is commonly found in the southwestern United States and northern Mexico.  
This centipede is tan with weaker darker bands, and about 3 inches long. 
It can be found under rocks and dead vegetation. This nocturnal predators feeds on insects but has been observed feeding on mice, toads, and lizards. It’s harmless but can inflict painful bite if handled. The female often guards eggs.

Control:
Eliminating or minimizing potential harborages outside is the best way to limit infestations of these arthropods. Remove ground cover and make sure all leaves, etc. are cleaned up. Sealing cracks in the building's exterior helps prevent these pests from entering. Installing screening in all vents is important.

Links:
Centipede PICTURE
Giant Desert Centipede Lays Eggs
Giant Desert Centipede (Scolopendra heros) by Jon Fouskaris