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The first thing you need to have is a Gmail account, you can create one here

Create a Youtube account, if you don't have one otherwise sign in with your gmail account

Once your account is created, you are good to go means just complete your profile and put your pic on your profile. Look for a video you want to upload from your PC.
NOTE:

1. Youtube doesnot allow you to upload videos more than 10min longer, so stick to the 10min length videos
2. Youtube love .avi format, so try to make your videos of compatible format

Now click on upload button on the top right of your Youtube account page, a window will open asking the location of the video to uplaod from, browse the location. By the time your video uploads spend some time on:

1. Title of the video- By default it will select the name you saved your video on your PC, you can change that name here
2. Describtion - Describe about your video, what is it all about. You can drop your twitter, orkut and facebook links in this section.
3. Tags - The most important part (work as keywords for serach engines) help to locate your video, Best match = Top rank . For the exact match use double qoutes for example: "How to upload video on youtube"
4. Category- Select the appropriate category your video fits in
5. Privacy- You can select to share your video with world or just 25 people
6. Save Changes- Click save changes to upload your video on youtube

The video link at the end of this article has been posted for the readers to follow the steps mentioned above.