An engagement goal is counted when a user, after he was included in an experiment, has visited more than 3 pages on your website and stayed more than 180 seconds.
The engagement cookie has a timeout set to 1h, time in which the engagement conversion must happen.
This means that if a user lands on a website page where an experiment is running, then goes on to another page after which leaves the website and returns after an hour or more, the engagement conversion will not register.
The engagement goal is enabled by default when you create an experiment, you can see it in the Traffic allocations & Goals section of the experiment editor, by scrolling down.

If you do not wish to track this goal, you can press the Select or create a goal button and uncheck the box next to the goal.

This goal does not require any integration.