Pyruvate formed during glycolysis enters mitochondrial matrix and undergoes oxidative decarboxylation by a complex set of reactions catalysed by pyruvic dehydrogenase and NADH, acetyl CoA and $CO_2$ is produced.
Pyruvic $+ CoA + NAD^+ \xrightarrow[\text{Pyruvate dehydrogenase}]{Mg^{2+}}$
Acetyl $CoA + CO_2 + NADH+ H^+$
Acetyl CoA enters the TCA cycle.