I've never posted any video.
If you didn't get it recorded on a digital camera, you'd have to play the recording into a device to digitally encode it.
If you did get it recorded, you should be able to use one of the cables that came with the recorder and upload the file of the recording to your PC.
After that, I think it's just a matter of setting up a youtube account and uploading the file to youtube. If I understand, it takes them a few hours to convert your digital recording to their format. I can ask my friend to see if he'd be open to receiving an email from you and walking you through it if you're interested...