Worm found in bed
This looks like a larva of a type of beetle known as a dermestid beetle (aka "carpet beetle". Here is a fact sheet with more information: http://extension.colostate.edu/topic-areas/insects/carpet-beetles-5-549/
Dermestid beetles are scavengers that feed on all sorts of debris commonly found around homes, particularly material of animal origin (lint/skin flakes, hair, dead insects). They are very common and likely are found in almost every home! But they normally stay out of the way and aren't easily seen. They do not bite humans.
Please let me know if you have any other questions!