From the start, he taught 10-day intensive meditation retreats, and by 1988 had taught numerous people, including several thousand Westerners.
Today, Vipassana courses, in the tradition of Sayagyi U Ba Khin, are held at 341 locations in 94 countries, of which about 202 are permanent Vipassana meditation centres.
Some of Goenka's discourses on Vipassana meditation are presented in William Hart's book "The Art of Living: Vipassana Meditation as Taught by S. N. Goenka".
Many of Goenka's discourses have been recorded and are available on YouTube. However the best way to engage with his teachings and that of Vipassana are to attend one of the 10-day Vipassana meditation retreats.