Edmund took a two-set lead before Goffin's fightback.
Murray is likely to feature in doubles action on Saturday.
Edmund, 20, begins Great Britain's Davis Cup final campaign on 27 November.
Great Britain are aiming to win their first Davis Cup in 79 years.
The world number-one should be mentioned among the sport's greatest players.
Former UK number one Tim Henman cancels trip to attend finals with family.
Djokovic eased to a straight sets victory with a fine showing to beat Federer.
Federer and Djokovic meet in the final match of the ATP season in London.
Federer reaches 10th final at season-ending tour finals with 7-5 6-3 victory.
Swiss foes Federer and Wawrinka meet in an eagerly-anticipated rematch from last year's semi-final.
Nadal and Djokovic meet for a 46th time for a place in Sunday's final at the ATP World Tour Finals.
Murray completes preparations for Davis Cup final with second straight round robin loss.
Murray and Wawrinka face a winner-takes-all clash to fill the final semi-final berth in London.
Nadal and Ferrer play for local pride in the penultimate round robin match in London.
Djokovic will face Nadal for a 46th time after a two-set win over a helpless Berdych.