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There is a video of the lectures from SICP, which was produced for HP. http://ocw.mit.edu/courses/electrical-engineering-and-comput...

The course webcasts of CS61A from berkeley for various semesters are online:

The ones prior to 2010~2011 used scheme, and it tracks SICP fairly closely.

I'd like to add that the material covered is just hard to learn, and fairly mind-bending if you're used to traditional (procedural/OO) programming.

Take it slowly, don't be discouraged if it takes you hours to get something concept, and DO THE EXERCISES.