I actually like Tcl quite a bit even if I don't use it much these days:
http://www.amazon.com/Tcl-Toolkit-2nd-John-Ousterhout/dp/032... (See the cover for all of the authors' names :-)
* Calling out from your C program to the scripting language.
* Setting variables in the scripting language from C.
* Creating functions that can be called from the scripting language.
* Making those available by creating a loadable shared lib that the scripting language can utilize.
Stuff like that is not that different across different languages and if you've figured one out, others won't be that hard.
My take: Tcl's C API is pretty cool. I wrote about it some here: http://www.amazon.com/dp/032133633X/?tag=dedasys-20
It not only covers the language and its usage but goes into depth of both extending tcl in C as well as embedding it into an application for scripting it.