Below is a common yellow-spotted Harpaphe haydeniana that I find in the garden wherever there is fungus and debris. It spirals into itself when you pick it up, and has this secretion that is a slight irritant if you rub onto your eyes. Some say that is cyanide. I don't know, but it smells a bit strange sometimes. Just handle them with respect and gentleness and they will not harm you.
So, don't kill them, get acquainted with them. Sometimes they may stroll into your home, give them a ride back out. They eat decomposing matter and turn them into soil. They are your friends!
What we can learn from millipedes: to fall without fear.