Assuming you have an account and are logged in, point your cursor on your username at the top right and in the drop down menu, click 'My Videos'.
Once there look to the left of the page and you'll see a button that says 'NEW' and point to it and you'll see a link pop up that says 'VIDEO UPLOAD' which will bring you to the video upload page.
Once there make sure to read the 'ABOUT UPLOADING' section to make sure your video meets the necessary requirements to upload video. If it does, click on the button Upload Video, then search for the video you want to upload in your directoty then click ok and your video will imediatley upload.
Then fill out the form that follows which will give it a title and description and some other options for the video.