I did it with animal speaking, you'll have to be "neutral" with the goblins I think (and not wreck havock and kill everything) :
first told the Owlbear mother (in cave) I wasn't a danger and leave them (Dont know if that mattered for next part).
Then I spoke to the cub in goblin camp, after declining the stupid game from the gob, and invited the cub in my camp. I then intimidated the gob to let us free to go.
Now I'm expecting to see the little pup in my camp next long rest
