He received an Emmy Award in 1975 for the CBS miniseries Benjamin Franklin and again in 1978 for the NBC miniseries King. He has received 22 Emmy nominations in total.
Goldenberg served as musical accompanist for An Evening with Elaine May and Mike Nichols. He was also the composer of the Michael Bennett-directed BroadwaymusicalBallroom, based on the television special Queen of the Stardust Ballroom, which he also composed. He was co-creator and accompanist of Bea Arthur on Broadway - Just Between Friends, which received a Tony nomination and toured extensively through the US, UK, Australia, Canada and South Africa. In September 2009, he Executive Produced a star-studded Broadway tribute to Arthur, a friend of over 30 years, who died in April 2009.