It depends on the script. Some scripts work fine even when hooked to wp_head.
But other scripts that manipulate DOM elements may sometimes require have to be added on wp_footer if they don’t have .onload or DOMContentLoaded listeners.
That said, if the script you’re using is from a source, perhaps the one who wrote it already has an instructions of where to place it. If none, you can try inserting it on wp_head first, and if it fails, try wp_footer.
A wise man once said:
"Have you cleared your cache?"