How to upload your video to YouTube 
on the computer:

1. Sign into YouTube.
2. Click the Upload button at the top of the page. (Before you start uploading the video you can chose the video privacy settings).   
3. Please make sure that your video settings are either "public" or "unlisted".
4. Select the video you'd like to upload from your computer. You can also record a video from your webcam, create a video slideshow or import a video from Google+.
5. Click Publish to finish uploading a public video to YouTube. If you set the video privacy setting to Unlisted, just click Done to finish the upload or click Share to privately share your video.
6. If you haven’t clicked Publish, your video won’t be viewable by other people. You can always publish your video at a later time in your Video Manager.

Source: https://support.google.com/youtube