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I had noticed in my tank the other day, these worms crawling along the live rock. They seem to have white legs and redish body. I think they are called "bristleworms" but not sure. I don't know where they came from, as I have had the tank for some time. The only thing added was a piece of small polyp coral from Neds. Are these worms harmful or helpful to my tank? What should I do about them?

Bristleworms aren't harmful to your tank, they tend to scavenge and eat stuff off the floor at night. They're usually nocturnal. DO NOT touch them, the bristles that give them their name are poisonous and from what I heard, they hurt like hell. I personally do not like them (they give me the creeps and my corals don't like it when they're touched by them). If you don't like them, you can get most of the reef safe wrasses that will eat it, (6-line being the best known and most inexpensive in most cases) but also long nosed hawkfish which will also eat any shrimp you have in your tank (so I'd recommend a wrasse, make sure it's reefsafe before buying, you can see a list of reef safe wrasses at liveaquaria.com)

also
arrow crabs eat bristle worms