It helps to remember that for an engineering drawing, the original author will have generated the curves with very few points, and used splines to join them. The former will mean you have to do a lot of editing the latter a lot of tracing! It's not difficult, but I've spent enough of my life doing this sort of thing to know that it can be very tedious! In fact, it is often a matter of personal preference whether you use an automatic tracing utility or simply digitize over the top of the scanned image.
Most drawing packages include facilities to do this (the free "Inkscape" is very powerful and has this capability), but you should be aware that you will have to do a lot of manual cleaning up of the resulting drawing, and will also have to add a lot of information to the drawing to give lines the attributes the CAD package expects. You need some sort of tracing software to convert the raster scan into vectors, which can then be manipulated in a drawing package.
Your diagram is still in raster format, and so not useful in a CAD package, except as a background image. Note that a lot of places will ask for a copyright release shouldn't be a problem as it is for changing format, and for personal use only. Stitching smaller scans will certainly introduce inaccuracies of unknown magnitude. +1 for using a print shop alternatively there are bureaux that do this sort of thing (at a cost).
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