In a desert in the Silurian, Nick Cutter and Stephen Hart came across dozens of Silurian Millipedes fleeing across the sand from a Silurian Scorpion. Later, one Millipede travelled through an Anomaly into the Present, and was chased by Connor and Abby to a ball pool in a restaurant. Abby eventually caught the Millipede and threw it back through the Anomaly before it closed.
The CGI model used for the Silurian Millipedes is the same one used for Arthropleura. Due to this (as well as a fan belief that the Silurian desert was located in Great Britain, which was inhabited by Eoarthropleura and Brontoscorpio during the Silurian), numerous fans believe that the Millipedes are Eoarthropleura; a Silurian ancestor of Arthropleura.