In order to link your welcome message to your subscription form, use an immediate AutoResponder. Autoresponders can be used for staggered messaging but also for immediate delivery. In this case, we're combining the subscription of a new recipient with an immediate autoresponder so we can send them a welcome message.
Step 1 is to build your mailing. Once your mailing is tested thoroughly, you are ready to link your mailing with your list. If you used to have a welcome message attached to your sign up form, this message is now saved in your mailings tab for your convenience under the name: Welcome Email For Form: <FORM NAME>
Step 2 is linking the mailing to the list. Go to the Tools tab, then AutoResponders. Click New Autoresponder.
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Please see the following quick video demonstrating these steps.