There are multiple ways to implement SCPI from Python (let alone other languages).
Personally I tend to use the python-vxi11 library, but there is also other libraries like easy-scpi and pyvisa. I prefer to avoid the overhead of VISA which the latter ones require installed.
Just a note that you can use
PyVisa-py as backend for pyvisa, so you don't have to install something heavy like NI VISA. This is mostly worth it if you want to be able to control the same instrument via multiple protocols, like USBTMC and VXI-11, and easily switch between them. Higher level libraries, like easy-scpi, will generally use pyvisa so they can support variety of protocols.
If you just want to use VXI-11, then python-vxi11 is the easier solution. The instrument will probably also support sending commands using a plain TCP/IP socket. You can do this through PyVISA or using the Python socket library (or any other programming language's TCP socket library) directly.