A centipede has two legs per segment, one on each side. And they usually stick out to the side of the centipede. A milipede has 4 legs per segment, two on each side, and they are usually more under the body of the milipede.
A parasite can produce asexually or sexually. The reproduction of the parasite depends on the type of parasite. The malarial parasite is a sexual and asexual reproducing parasite. A tapeworm buds to reproduce, making it an asexual parasite. A flea is a sexually producing parasite.