So what I'm doing is using DrRacket with this module: http://www.neilvandyke.org/racket-sicp/ This adds and makes the environment SICP friendly, and so far I didn't have any single problem (I'm at Chapter 1, page 67).
From Berkeley, the SICP lectures from Brian Harvey are highly recommended. You can watch them from: https://www.youtube.com/view_play_list?p=EC3E89002AA9B9879E And of course the lectures from MIT itself are good too: http://ocw.mit.edu/courses/electrical-engineering-and-comput... I'm going to watch those once I've finished Chapter 1 myself, to re-read and go over the chapter again.
Because it would be good to observe what I've done and track my progress I've setup a Git repo with my thoughts, notes and solutions about SICP and Scheme: https://github.com/fatih/sicp
This is the first time I'm exposed to Scheme/LISP and it's just wonderful. I really like the examples (though they to much based on mathematical proofs and functions).