I recently faced the same dilemma when posting a series of videos on one of my sites. What I decided to do was post a shortened version of the videos on YouTube making it clear in the video that the uncut version was on my site.

This gave a viewer a reason to come to my site to view the full version of the video. My videos were animations of a Baby Newbie talking about all the crap on the net so it was easy to make an edited version.

Making a shorter version of your video may not be an option depending on how it's structured, but it may be worth thinking about for future videos.

Andy
http://www.the-search-engine-optimizer.com