Goku and Vegeta have had a rivalry since the beginning of DBZ to the end of DBGT. Their first fight was when the Kamehameha/Galick Gun clash happened. The second and last was SSJ2 Goku vs SSJ2 Majin Vegeta , which was the most epic. After then, there was just little arguments. They still had tantrums. And some little fights. But became friends.
SSJ2 Goku vs SSJ2 Majin Vegeta