I'm pretty sure that the K100D will do RAW in any of the modes, so that's shouldn't be a concern.
I usually use Program mode, switching to Aperture as the need requires.
I do wonder if we're not unnecessarily prejudiced against scene modes - there is certainly value to the concept. I'm pretty sure that future DSLRs will allow you to create your own, probably a variety. The K10D has something like this. From the DPReview review:
"Note that you can change the program-line from a 'standard' one to hi-speed (favors higher shutter speeds), depth-of-field (favors smaller apertures) or MTF (selects the optimum aperture for the lens used)."
Those sound like scene modes for those who don't like scenes modes.

The K10D also lets you store your favorite settings in a "user" mode.
I wouldn't be surprised if in a few years, most DSLRs have a few different user modes available, or settings right on the dial for high speed, DoF, and MTF.
One big downside to the scene modes is that you don't get control over some of the picture settings (like bright vs natural, etc), but if you shoot in RAW, you can always change those later.
Anyway, don't feel bad. I shot with a full-manual 35mm for years, then a couple PnS digicams, and when I first got my DSLR, I did the auto mode and JPG most of the time. As time went on and I got more familiar with the camera, I started using the more advanced features and shooting in RAW, and I can't imagine going back now. It just takes time and practice to learn the camera and what to expect from it.