Below is a image of youtube's video page. Find the link that says Add to Site.
( I added red X's to the below image so you can easily find it.)
Click in the Add to Site text box and then right click and then click copy.
Add embeded video link to post.
At the bottom of the forum pages above the post text box you will see a button called "Add Embeded Video Link"
Click the "Add Embeded Video Link" button and the Embed Video Link Text box will appear.
Left click in the Embed Video Text Box. The right click and click Paste.
If you are adding a new post then you will need to add a Topic and add a message to the Post Text box.
Click the "Post Message Button" below the Post Text Box.