What to do about revisiting insects?

Alright so in my house we seem to have a issue with revisiting insects. Before (and sometimes now), we've gotten these slender centipede-like insects with a bunch of legs. (I'm positive they are not actual centipedes.. but they are so similar.) Those first started showing up right beside my dresser in the same spot when I would get ready for school. Then the last time was when I went to open my dresser and it was sitting on a new shirt I put in last night! That was a huge freak out and ever since I would avoid checking the floor for them before grabbing a shirt. (Don't ask why, probably stupid since you'd want to kill it.) So recently I started seeing them in this same spot by the bathroom downstairs when also getting ready for school. So that freaked me out to the point were I started getting ready in the upstairs bathroom, across from my room. This past week I have now had a encounters with these semi-small light brown spiders. Two times when leaving that bathroom I had noticed this spider on the wall, killed it, and moved on. Just now is when I saw it again after coming from dinner and into my room. Once again, on the wall. So are the revisiting insects showing up something I should worry about? What can I tell my parents to do about it?