Don't use a sword or any melee weapon because it breaks them and keep a distance and bring a long range weapon and if you hate bugs especially when they to the point of being a footipede instead of a centipede then that will always work but watch out for others too!
Found in almost every caves except the underwater , Lava and Snow (they don't like extreme weather I guess) easiest taming methods lure it into water and let it sink to bottom, no oxygen stat so won't drown, go and feed it spoiled meat, tame it , put a saddle and get out :)
Those who say it's very dangerous are crazy. Just bring a long neck rifle, one shot or two and boom. The first time I entered the South Cave, I tamed an scorpion and it significantly helped me to take care of the Arhtros and Boas.
Most of the creatures have arrows in their loots, so if u prefer a ballesta to deal with these bad boys, you are not running out of ammo any soon.