Goel's visit was part of the BJP's nationwide campaign, "Sampark for Samarthan", in the run-up to the 2019 Lok Sabha election.
"The BJP's doors have been open for him since he parted ways with the AAP. Now he has to take a decision," Goel told reporters after meeting with Mishra.
Mishra was removed from the Delhi government by Chief Minister Kejriwal last year.
Following this, Mishra had levelled allegations of corruption against Kejriwal and Delhi minister Satyendar Jain and had been a vocal critic of the AAP dispensation ever since.
Goel apprised Mishra of the welfare and development works and schemes of the BJP-led central government and presented a booklet, titled "Saaf Niyat, Sahi Vikas", to him.
The Union Minister of State for Parliamentary Affairs and Statistics and Programme Implementation appreciated Mishra for his social works and positive attitude.
"We need friends like Kapil Mishra," he said.
Mishra's mother, Annapurna Mishra, is a senior BJP leader from east Delhi and a former mayor of the East Delhi Municipal Corporation.