The longer Connect guide, https://docs.docusign.com/supportdocs/ndse-admin-guide/Content/custom-connect-configuration.htm is, unfortunately, out of date. A new version is on the roadmap.
When SOAP format messages are used, there are two ways for the server (the "listener" operated by the customer) to authenticate the client (DocuSign Connect system).
Mutual TLS
Connect can be configured to make a SOAP request and to respond to Mutual TLS certificate requests. (If queried by the customer's server.)
Remember that Mutual TLS must be initiated by the server. DocuSign, the client, can only respond to Mutual TLS requests. And it will only do so if the request matches the cert held by DocuSign. I have written several blog posts about this on the DocuSign Developer Blog
Digital Signature
Connect can be configured to include a digital signature with the XML notification. Your app can then verify the signature. This can be quite complicated.
Recommendation: Don't use your own public server
If you can, I suggest not using your own server (with either SOAP or XML messages). Instead, you can receive the notifications from behind your firewall, with no changes to the firewall, by using an intermediary PaaS (Platform as a Service) to buffer/queue the notification messages. See this post and another post on the same subject is planned for the week of 2020.01.27.
This suggested Connect architecture uses both Basic Authentication and HMAC to authenticate the client (DocuSign).
Recommendation: Use XML, not SOAP
If you really want to create your own listener server, I suggest using XML, not SOAP. You can use HMAC to both authenticate the client (DocuSign) and verify that the payload was not altered. You'll also have much much earlier access to new Connect features which are in development.