The gonads of centipede reproductive system are all on the back of digestive tract, which are single ovary or testis. There is a reproductive duct, that is, fallopian tube or vas deferens, which is later divided into two parts, bypassing the digestive tract and leading to male and female reproductive holes respectively. In addition, there are two pairs of accessory gonads leading to the end of the reproductive duct. The female centipede has two seminal vesicles, and the male centipede has two seminal vesicles, both of which lead to the ends of fallopian tubes and vas deferens.

Female centipede eggs are full of body cavity when they mature, and there are sperm in the seminal vesicle of the mother before labor, so that the fully mature eggs combine with sperm to become fertilized eggs and are excreted.