It's on-demand on YouTube[1] and an excellent course that is still very much relevant with very high production quality circa 1986. What makes it special is who is teaching it, which is the original authors of SICP. The course thus completely complements their book and is in the same style. The courses from later years are also on YouTube, but they don't feel the same.

[1]https://www.youtube.com/watch?v=-J_xL4IGhJA&list=PLE18841CAB...