Mike, it is a lot easier then some people think.
For a band then the most important thing is going to be the sound. Don't rely on the in-built microphone of your video camera, you really do need a decent external mic. It will make a big difference.
Then download the video to your PC and use Windows Movie Maker which comes free with Windows to edit your video.
You will then need to render it as an AVI or MOV file (there are others too) and then just upload it to YouTube.
Best to have a play around with some test footage before doing the actual video.
Justin