After Giribet, Edgecombe & Wheeler, 2001, and Shear & Edgecombe, 2010, with some taxa from “Wikispecies”

<==o Myriapoda Latreille, 1802 [Millipedia] (myriapods; tuhatjalkaiset)
   |-- Chilopoda Latreille, 1817 (juoksujalkaiset)
   `--o Progoneata
      |--o Symphyla Ryder, 1880 (sokkojuoksijaiset)
      |  |?- Remysymphyla
      |  |--o Scutigerellidae
      |  |  |-- Hanseniella
      |  |  |-- Neoscutigerella
      |  |  |-- Scolopendrelloides
      |  |  |-- Scutigerella
      |  |  `-- Tasmaniella
      |  `--o Scolopendrellidae
      |     |-- Geophilella
      |     |-- Pseudoscutigerella
      |     |-- Ribautiella
      |     |-- Scolopendrella
      |     |-- Scolopendrellina
      |     |-- Scolopendrellopsis
      |     |-- Symphylella
      |     |-- Symphylellopsis
      |     `-- Sympyhlellina
      `--+-- Pauropoda Lubbock, 1867 (harvajalkaiset)
         `-- Diplopoda Blainville, in Cervais, 1844 (centipedes; kaksoisjalkaiset)

Alternative phylogeny of Myriapoda [Millipedia]:

<==o Millipedia
   |-- Diplopoda
   `--o Progoneata
      |--o Dignatha
      |  |-- Pauropoda
      |  `-- Symphyla
      `-- Chilopoda

Reference(s):