Resuming from 274 for seven, overnight batsman Darshan Misal (97) continued his good work as he put up 45 runs alongside Robin Singh for the eighth wicket before missing his century.
Robin D'Souza hit a quick fire 67 off 73 balls with the help of seven sixes and three fours.
In reply, Himachal Pradesh did well to reach 172 for three after losing three early wickets.
Kalsi and Parida batted together to put on 101 runs for the fourth wicket to give stability to the innings.
Brief scores: Goa 357 all out in 109.2 overs (Darshan Misal 97, Robin D'Souza 67; Raghav Dhawan 2/55, Gurvinder Singh 2/70, Karanveer Singh 2/54).
Himachal Pradesh: 172/3 in 68 overs (Ankush Bains 46, Ankit Kalsi 66 batting, Rashmi Parida 55 batting).
