The course material from 2005 (original 6.001) is available on OCW at MIT, including videos of the lectures.

http://ocw.mit.edu/courses/electrical-engineering-and-comput...

That's an older and less polished online courseware system than edX, but it's perfectly workable. There are also VERY old videos of Sussman himself giving the .001 lectures. Those were easy to find, but I'd recommend the OCW site over the original lectures.