ABSTRACT Studies related to centipede feeding and predatory behavior are rare in the literature, and are limited to observations made during fieldwork. Furthermore, they lack descriptions of prey capture. We conducted a laboratory experiment using South American specimens of Scolopendra viridicornis Newport, 1844 (n = 5), Otostigmus tibialis Brölemann, 1902 (n = 5), and Cryptops iheringi Brölemann, 1902 (n = 5), as well as 13 different kinds of prey, to map and describe their predatory behavior. The analysis of video images (65 hours of recordings) resulted in 15 behavioral categories that describe foraging, prey capture, feeding, and cleaning habits. Almost all observations (95%) concluded with the centipede killing the prey. Although we witnessed that a stimulus triggered the movement of the centipede toward the prey in all observation events (suggesting a sit-and-wait strategy), our experiments also showed that these arthropods actively forage to seek food. Field observations during the experiment allowed us to document that scolopendromorphs feed on plants when animal prey items are not available. Moreover, we observed that the size and aggressiveness of the prey determined the centipede capture process. Our results revealed that two behavioral categories were performed only by S. viridicornis , and thus might be genus or species-specific. These are: raising the first third of the body while the rest of the body remains adjacent to the substrate; and restraining the prey along the ventral region of the first third of the body with the aid of locomotory legs. We also observed some peculiar behaviors performed only by O. tibialis . Our results confirm that S. viridicornis , O. tibialis and C. iheringi hold prey between their ultimate pair of legs.