I can't speak for other scripting languages, but it's absurdly easy both to embed Tcl as an interpreter in a larger project, and to create a Tcl extension which implements your own commands.
Sorry, missed this at the time. But I did say I can't speak for other scripting languages. All I can say is that it was much easier than I was expecting!
That means it's a good language to extend your program. I don't know how it compares to Lua, which seems to have replaced it in that space.