"Millipedes are harmless; they do not feed upon building structures or furnishings and they cannot bite or sting. However, millipedes can be annoying as accidental invaders in houses and other buildings when they migrate into buildings over night. Millipedes are usually found in the garage, basement or lowest level although they may wander into other parts of the house. Millipedes in greenhouses, gardens and potted plants may be annoying but do not feed on the plants unless the plant is laready damaged or decayed."
Preventing them from entering would mean sealing up all possible points of entry which is usually not practical or necessary. I hope this helps.
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