If we are parsing S-expressions... why not embed Scheme already? This way, not only you get an S-expression parser for 'free', you can easily manipulate S-expressions, you can add macros and so on. And you also get your scripting language out of this deal!
Something like Racket or Chicken (and possibly others) would work nicely. Chicken specifically has a very nice FFI - which you don't even have to use. As an experiment, I have asked Chicken's compiler to stop at the C code generation, added the generated code to my XCode project, and deployed the whole package to iPhone. Not even cross compilation shenanigans were required, since this was handled by XCode.
As a bonus*2, with a few lines of code, I opened a TCP listener, and fed straight to the REPL. Which meant that I could telnet and have a REPL, which could be used to replace functions on the fly and observe the results immediately, while the app was running.
They would have to rename the project at this point, though :)