It will be necessary to install Firefox, the extension Fast Video Download and of course a FLV player (Youtube video format). You wil be able to save not only Youtube videos but from many others sites to (like Google Video, MySpace and Dailymotion).

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1. Install Firefox

This tutorial will use Firefox to download videos.
If you do not have Firefox get

2. Install Fast Download Add-on

Install Fast Download Extension. With this special add-on it will be possible to save embedded video files from video-hosting servers such as YouTube and the following video-hosting servers: AG.ru, Angry Alien, Current.TV, Daily Motion, Google Video, iFilm, My Space, Streetfire, YouTube, V-Social.

3. Downloading videos

If you have Firefox and Fast Video Download installed (and restarted Firefox), you are ready to download videos.

Open Youtube and select a video to see.
Look at the Fast Video Download icon on the right bottom corner of Firefox window.

Clic on the icon.
It will open a window to save the video (In some computers is a double clic). Check if the extension is ".FLV"..

And that's it!