You need to be sure to optimize your YouTube videos in a similar manner as you would your own website.
Use keyword optimized titles, tags, and descriptions. These phrases should accurately describe your video. That will help bring people to your page from Google searches for those keywords. As you add keywords, be careful to find a balance between enough keywords to get noticed and overstuffing your post.
Overstuffing keywords makes search engines think that your video is spam, which hurts your search ranking.
To help pick the best keywords, try TubeBuddy! TubeBuddy is a browser extension (aka browser plugin) that adds a layer of tools directly on top of YouTube's website. After installing TubeBuddy, simply go to YouTube.com and you'll see their features right inside their site designated by the TubeBuddy logo.