Hello and thank you for contacting us. This is Dwayne B. and I’m an expert here and looking forward to assisting you today. If at any point any of my answers aren’t clear please don’t hesitate to ask for clarification. Also, I can only answer the questions you specifically ask and based on the facts that you give so please be sure that you ask the questions you want to ask and provide all necessary facts. Please note: This is general information for educational purposes only and is not legal advice. No specific course of action is proposed herein, and no attorney-client relationship or privilege is formed by speaking to an expert on this site. By continuing, you confirm that you understand and agree to these terms.
It's not a privacy rights issue, because there are virtually no laws on privacy rights that extend to this area, but you do have a copyright issue since anything you video is automatically covered by your copyright.
You absolutely have the copyright on any video that you take and you have the right to request them to take it down or to sue them if they don't, although normally it is too expensive to pursue this. If you didn't contact YouTube then you can contact them and advise them that the video is in violation of your copyright and normally they will take the video down. You can also get a local lawyer to send them a cease and desist and a demand for damages. However, unless your copyright is registered through the US Copyright office there are no automatic damages.
You can find a lawyer to assist you by going to www.lawyers.com and in the section for Area of Practice enter Civil Litigation or Intellectual Property Law. Either of those will have the skill set you need.
If your question has been answered then I'd offer my best wishes to you and ask that you please not forget to leave a Positive Rating so I receive credit for my work.
Of course, please feel free to ask any follow up questions in this thread. I want to be sure that all of your questions are answered. In addition, once you issue your Positive Rating the question will lock open and no longer time out so you can come back to it anytime in the future if you think of any follow ups.