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You'll need to copy the video files from your DVD to your Hard drive. When you explore the DVD you will see several types of files, you only need to copy the large files.(typically called VOB files) These files are the video and usually around 50MB - 1.2 GB in size.
Once they are copied to your Hard Drive, you'll need to convert them to a format accepted by You Tube. I use Canopus procoder, but its around $400. You should be able to find free converter software online...try a search for forums on media converters. I know of a couple but I'll have to get back to you...I can't remember right now and they're on another computer.
I hope this helps
Best Regards
*note-usually you would have to rip the files from the DVD but since it's a "homeade DVD" copy and pasting should be just fine. Â