Alice Whipple: Harry, how long are we going to be here?
Harry Whipple: As long as it takes.
Alice Whipple: Well, I've got to get to the beauty parlor.
Harry Whipple: You're telling me.
Sgt. Carter: Pyle. My old grandmother could do better than that.
Gomer Pyle: Well, bless her heart.
Gomer Pyle: Golly.
Answer: There's no indication they were meeting for the first time, in fact they seem to know each other as Sgt. Carter addresses Andy only as "Sheriff". Gomer Pyle just says his two favorite people are "meeting face to face", and obviously in the pilot episode Sgt. Carter wasn't one of Pyle's favorite people yet.
Bishop73