If you learn better by video than by reading, the Structure and Interpretation of Computer Programs lectures by Abelson and Sussman are spectacular. I have watched the entire course multiple times. The SICP book also receives a lot of praise, but I have yet to read it myself. They specifically use Scheme, but most of the knowledge can be translated to other Lisp dialects as well. The biggest difference between the different Lisp dialects are the macro systems and the standard libraries, so getting started and learning it doesn't really matter which one you choose. GNU Guile or Racket would be easy to use to follow along with SICP though.
Also... HtDP (How to Design Programs) is a good follow-on to SICP.
Oh... and I think we can't mention SICP without referencing this (relatively recent) video about why MIT moved from Scheme to Python for intro classes: https://youtu.be/OgRFOjVzvm0
HtDP was written to address difficulties with learning from SICP https://cs.brown.edu/~sk/Publications/Papers/Published/fffk-...
I have gotten much farther (and accordingly learned more from HtDP). It is accurate to think of it as an on ramp for SICP.