Millipedes do not actually have a thousand legs, they usually have between 100-400 (2 sets of legs per body segment). With each molt they add more segments and with new legs.
They can be handled and are quite docile and slow moving, though you need to wash your hands before and after handling. They can eat most fruit and vegetables and their diet also needs to be supplemented with a source of calcium like crushed up cuttlefish. Millipedes are also socialable and can be kept in groups.