Yes, one of my friends, a school teacher, was driving one of the school buses home from an athletic event one evening. Centipede crawled up his pant leg in the dark and bit him in the vicinity of his you no what. When he started whacking at his pant leg to try get rid of it, it bit him again. The next day he could barely walk, his leg was so swollen.
I have killed enough of them to know you are not going to just squash them like a spider. They are tough and strong.