Do not blame me if you get arrested or sued or anything like that. I do not believe this is illegal but it may be copyright infringment. But honestly, who cares anyway?
Step 1: Get a Download Program
An alternitive is to download RealPlayer SP. Try some other site for this, as I will keep on doing it my way, and do not plan on using Real anytime soon.
Step 2: Find Videos and Download
Once DVDVideoSoft is downloaded, open it up and click on the orange column to the far left. It is labeled "Internet". Then click on the first link, "Free YouTube Download". A new window will open saying, "Copy a YouYube link from your browser address bar and Paste here". Then right-click, and hit "Paste" or "Paste and Download". Then hit download at the bottom of the screen. A 3rd window opens, and you are downloading. Look at the yellow note things (all).