House,
As CW said...sounds like a bristleworm. There are a couple of species that get huge (i.e >12" long) and could be a problem, but as a general rule most of the bristleworms that may seem to come out of nowhere in our tanks are awesome scavengers and really help keep detritus/uneaten food, etc. under control.
I wouldn't worry about it...it's a natural thing. It's completely understandable to "freak out" a bit when you see it the first time, but these guys are very helpful. You may start seeing more. If you really feel the need to remove it, use some tongs or tweezers or something so you don't handle it with your hands. I would just enjoy it and watch it do it's thing!
Matt