The 30-year-old defending champion will face Spanish compatriot Albert Ramos-Vinolas, who defeated Lucas Pouille 6 -3, 5-7, 6-1, in Sunday's final.
Nadal is also chasing his first ATP title since last April in Barcelona and the 70th of his career.
However, Saturday's semi-final turned on a controversial incident in the first set, when the chair umpire may have missed a ball mark and ended up awarding Nadal a point which denied Goffin a 4-2 lead in the opener.
Ramos-Vinolas, the 29-year-old 15th seed who had knocked out number one Andy Murray and Marin Cilic, had never before even reached a Masters 1000 semi-final.
"To play Rafa, you never know. If he plays unbelievable, he's going to beat you," Ramos-Vinolas said.
"I have more confidence. It's impossible to negate that. Since Roland Garros (2016) maybe, I'm playing better. In South America (February) I did a final, two semi-finals, one quarter-final.
The Spaniard, who saved seven of nine break points, had come to the principality with only three previous victories from 29 matches against top 10 opponents.
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