The Iron took the lead through David Mirfin in the first-half, but were pegged back by Jaime Peters after the break.
"There was only one team in it in the first half. We dominated and the only criticism I can have is that we have to be more clinical in front of goal and take our chances," said Baraclough, who was appointed permanent Iron manager on Friday after three games in a caretaker capacity.
"The Ipswich equaliser came from out of the blue just a simple ball through the middle which we did not deal with but we got ourselves back into the game and really should have won it in the closing stages.
"Jonathan Forte had a great chance for us in the closing minutes but I am not going to criticise him for not taking it.
"As long as he continues to get into those sort of situations, and work as hard as he does, then I will be happy. We have 10 points on the board now and have made a good start to the season."
Roy Keane, the Ipswich boss, felt his side should have gone on to win the match once they had drawn level.
"In the first half we were unbelievably bad. I knew we could not get any worse. Scunthorpe were in control of the game and we had to change our formation to get a foothold," he said.
"We were a goal down and it could have been more but we turned things round in the second half and took control. We got ourselves back on level terms, hit the woodwork twice and really should have been out of sight before the end.
"In the closing stages we lost a bit of concentration and Scunthorpe could easily have won it. This is a game where both managers will be believing their team should have had three points."