If I see one in my house, I just use cup and paper to take it outside.
One time a few days ago, a cute spider landed on my leg while I was sitting at my table. I do not know how it got there, but I thought it was just a house fly. When I found out that it was a spider, I grabbed the web it made from my leg. I kept the spider hanging in the air while I held the web up. I went outside and let it go onto the fence out there. My boys were like "LEMME SEE LEMME SEE LEMME SEE!!" No, it was not poisonous.