I found a bug on our bathroom wall. It has many legs (I didn't get close but it looked like ~20) and antenna.

Question

It was brown in color. Any thoughts on what it could be?

Answer 1

It could be a millipede or a centipede.  Millipedes have a brownish or tan body with many, many legs and are about the size of a small caterpillar.  Centipedes are larger with dark gray bodies and tons of long legs.  They have two antenna and beady black eyes.  It is also possible that you saw a baby one of the above bugs.  Centipedes also prefer it dark so if you saw it right after turning on the light that may be a clue.

Answer 2

whispy looking antenae and legs? sounds like a silverfish, very hard to get rid of.... squash it, it can't really hurt you. or get some spray that specifically deals with silverfish.

Answer 3

centipede or earwig

Answer 4

It sounds like a House Centipede. They aren't aggressive, but they'll bite if you handle them. Their bite isn't as bad as a normal Centipede, but it will cause some pain and swelling. If you don't touch them, they won't hurt you though.

Here's a pic. of one:

http://blog.lib.umn.edu/whit1019/centipe...

Answer 5

millipede??