There are actually two colors of Goku's kamehameha wave. In Dragonball and Dragonball Z Goku uses his orignal kamehameha wave which is always a light blue color. In Dragonball GT Goku uses a new kamehameha move called Kamehameha times ten (x10) which turns his kamehameha waves red insend of light blue.
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goku learns the kamehameha on the movie path of power (Edit: Goku first performs a kamehameha wave in the 8th episode of dragon ball)
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Goku learned the Kamehameha wave after witnessing it being used by Master Roshi and he uses it in almost every fight in DBZ .
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