What you are going to need to do is find some free DVD Ripping software, which will get the Video_TS.vob files off of your computer. What you will then need is a a program which will then convert those VOB files into a format that is smaller so you can upload them to youtube. I have always used DVD Fab Decrypter
to get the files from the DVD to the computer. From there, you will need to find a program that will convert the two VOB files into something smaller for uploading to youtube. Format Factory
will do that for you and is also free.
You only need to worry about the VOB files. Those are the videos.
The problem with that is that you will need to upload the full video with this process. If you only wanted to do clips, you will need to know a little bit more.