The usual way to do what you're asking is by using compose, which according to the linked documentation:
Returns a procedure that composes the given functions, applying the last proc first and the first proc last.
Notice that compose is quite powerful, it allows us to pass an arbitrary number of functions that consume and produce any number of values. But your example is simple to implement:
(define (square x) ; f(x)
(* x x))
(define (mul_two x) ; g(x)
(* 2 x))
(define p ; g(f(x))
(compose mul_two square))
(p 3) ; same as (mul_two (square 3))
=> 18
If for some reason your Scheme interpreter doesn't come with a built-in compose, it's easy to code one - and if I understood correctly the comments to the other answer, you want to use currying. Let's write one for the simple case where only a single value is produced/consumed by each function, and only two functions are composed:
(define my-compose ; curried and simplified version of `compose`
(lambda (g)
(lambda (f)
(lambda (x)
(g (f x))))))
(define p ; g(f(x))
((my-compose mul_two) square))
(p 3) ; same as (mul_two (square 3))
=> 18