Goldberg will be on Monday's RAW from Denver to respond to Paul Heyman's challenge but as noted, Daniel Bryan and Renee Young apparently confirmed the Lesnar vs. Goldberg Survivor Series match on last night's Talking Smack episode. They also mentioned that Goldberg has been signed by the RAW brand.
Below is the announcement from the official Twitter of The Target Center in Minneapolis:
Just announced: BROCK LESNAR will return to @WWE RAW in his hometown Mpls on Oct 24! https://t.co/iuuS9lARW9 pic.twitter.com/sZjeBGQ8kH— Target Center (@TargetCenterMN) October 12, 2016