I’ve done it with Python before. Have a look at pyVISA. It can connect through a GPIB, USB, or RS232 interface. You’ll have to write your own SCPI command strings to control your instruments.
Let me rummage through my files and I’ll put up a code snippet if I can still find them.
UPDATE: Here’s a Gist that you can use https://gist.github.com/2301119
The basic idea is to connect to a GPIB interface, which is represented by an object in the Python environment. You can then
write() SCPI commands and
read() responses from your instrument using that object.