Golding, who is the deputy head of planning at WCRS, will fill the newly created role of planning director. The agency has also recently appointed a new managing director, James Murphy.
The joint chief executive MT Rainey, who had headed the agency's planning, is becoming the chairman in order to make way for the next generation of agency management. The agency is also close to appointing a new creative director.
Rainey has also named Tom Morton as the deputy planning director, and Charlotte Scales is joining from Naked as a planner.
Rainey said: "David is one of the smartest planners I've met in the past few years. He combines razor-sharp insight with a real instinct for good work. He has great front-line planning experience on brands I admire and he is up for the challenge."
Golding said: "This is a great time to be joining RKCR. The agency has built up an excellent creative reputation and client base over its first ten years and now has exciting ambitions to make the next ten equally, if not more, successful."
Golding started as a graduate trainee at the now-defunct Bates in 1994.
During his three years at the agency, he worked as a junior planner on Royal Mail, Spillers Petfoods and B&Q, before moving to WCRS. Prior to being appointed as RKCR/Y&R's deputy head of planning last year, he contributed to the Land Rover, Trebor Bassett, The National Lottery and Bupa accounts, among others.
The changes follow the completion of the RKCR/Y&R founders' earn-out period in October. This enabled Robert Campbell, the former executive creative director, to join McCann-Erickson as its executive creative director for the UK and Europe.