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Yep, they are completely harmless! It's possible, if it's that small it probably hatched out this year, but they disperse once they hatch. So if the eggs were laid near your house then it's possible you might see more, but you could just have this guy that made it to your house. This time of year they are probably looking for warm places, so you might see more!
Thanks Ashley! Glad to know it's not poisonous. Does the fact that it's small, ~ 6" mean that it's part of a litter and we will be seeing more of them?