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Plan your videos out ahead of time; if you don't, there is a risk you'll ramble on or fail to engage the audience. Find some topics you think people are ,most interested in, but also throw in some unique ideas from your own head. Be sure to vary your videos. (For example, don't make every other video a makeup tutorial.) You can also occasionally collaborate with other Youtubers you do the same things as you.  Make sure to have good lighting (sunlight or a bright inside light) and good audio. Speak clearly and loudly. Keep the videos at around 6-8 minutes (or shorter). Try not to ramble; instead, get to the point and discuss the video topic. (This is why planning before shooting matters.) Use a program such as iMovie (Mac) or Windows Movie Maker (PC). Keeping things new and fresh is important and brings your viewers back frequently.
Start making videos. Start with easy tutorials and keep them short and sweet. Edit your videos. Try to make a new video every one to two weeks.