When did Goku meet princes Lila?

Goku meets Princess Lila in the "Dragon Ball" series during the filler episodes of the "Dragon Ball Z" saga, specifically in the "Bardock: The Father of Goku" TV special. In this special, Goku's father, Bardock, encounters Princess Lila on Planet Vegeta. However, it's important to note that Princess Lila is not a major character in the main storyline and her appearance is often considered non-canonical.