Emacs has pretty good/massive documentation: for help, just press "C-h t" (Control-h, then t ...) for a tutorial. Or, type "M-x info" to get into info mode and then scroll down to the Emacs section. Type 'h' in info mode for a tutorial on info ...

Are you using Scheme or Common Lisp? For MIT Scheme or similar, you might want to take the Emacs tutorial in Edwin instead (start MIT Scheme with the "-edit" flag) since it contains Scheme-specific commands. Also check out http://www.gnu.org/software/mit-scheme/ and follow the directions to install xscheme.elc - it gives you a Scheme-mode optimized for MIT Scheme. This doesn't compare to SLIME mode for Common Lisp, but I don't know of a good substitute.

That said, there are QUITE a lot of Emacs and Scheme-mode commands, and the only way to learn them is through use. Once you're familiar with the basics (motions and evaluating), you might take a list of commands you want to master and put up two or three at a time, making a point of using them. Here's a very limited and basic set of Emacs/Scheme commands: http://github.com/bcdarwin/SICP/blob/master/emacs_bindings_s...

There is also customization via the .emacs file or Emacs Lisp programming; see the Emacs info documentation or the O'Reilly books on this.