It is a _Halyomorpha halys_ , commonly known as a stink bug. Your photo shows a brown marmorated stink bug. More information can be found on this Wikipedia page.
![enter image description here](
As far as your two questions:
* Stink bugs do not normally bite people and are not poisonous.
* A good way of controlling them in your home is by sealing any openings that they are entering through.
Source: <