I don't think they ever meet.
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Goku never meets Bardock.
The answer is........................................... simply no. Goku knows Super Saiyan 1,2,3, and 4, and Bardock never knew any of those.
Yes. He did in a sense where the Bardock defeated in the movie Bardock the farther of Goku. Where the alien gave bardock the ability of foresight where he was able to look into the future of his son fighting for good against frieze. They have a small conversation but thought out the Dragon Ball Z series it doesn't become relevant.
good bye my son and good look in completing your mission
Goku's father was Bardock, and his mother was Gine. He also had a brother named Raditz.