Town are just outside the play-off places after a three-match unbeaten run and are well-placed to launch a promotion assault.
The Robins picked up a useful point against high-flyers Rotherham at the weekend and Schofield believes the club are in a good position to bounce back into League One at the first time of asking.
He warned that it would not be easy though, saying: "Some teams try to play, but others are direct and physical.
"I know what it's like to have to get out of this division and it's a tough league.
"You know it's going to be a battle and there are a lot of long trips up north. But we have settled in well and we are in a good position to move on now."