I doubt it is a sound he can make or hear. I'm totally get it though, while they may be harmless to people they are really creepy looking. It will be hard to catch because they are super fast. They like dark places so turn on all the light them move any thing it can hide under, it will keep trying to get to the dark. I know it eats bad bugs but I can't have those in my house pretty much every bug but those is fine.

It somewhat resembles Tarzan's yell (if you remember Tarzan).

Most likely their mating call is pheromonal, which as a human your friend would not be able to detect.

If he is afraid of house centipedes, why does he want to mate with it?

Anyway, a house centipede is completely harmless to humans. It carries venom to kill its prey, but it has no way to break the skin and bite a human. It is a good bug. It eats nuisance bugs.

No idea but good luck...bugs are nasty

My friend has a house centipede wondering about his room. He's extremely afraid of them and is trying to capture it with a cup. However, he cannot seem to find it, so if anyone knows the centipede mating call please let me know asap, pronto, today, now. Gracias guys.