I actually learned Scheme in CS212 at Cornell (which, incidentally, I bombed at the time, but it was due to the pacing, not being unable to handle the depth), so it was pretty much a no-op for me.
Fundamentally it's a pretty simple language. Once you grasp those details, the rest kind of falls into place where you look at some code and go "Oh, THAT'S what it's doing".
Here is my experience so far :
https://news.ycombinator.com/item?id=31558878