You have absolutely just made my day...! This is such an old video by now, but still one of my favorite short gaming let's plays.
Trust me...I planned on doing YouTube for soooooo many years before I actually started it. There is this weird fear that we all have about making videos and putting them out for EVERYBODY to see. The best advice I could ever give you is just to try it out, have fun, and remember me if you get famous! :D
As long as you are having fun and meeting cool people (Like yourself) then there is nothing to worry about!