Upload video from a DVD disc to YouTube

Don't really know which forum is the best for this question, hopefully this one. I have a Sony DVD +R disc with five different titles (individual video footage of family events) which I created on my old camcorder which I no longer have and then recorded onto the hard drive of my DVD recorder. From there, for archiving purposes, I burned a DVD containing these videos, all of which are home video - this is not commercial video. The DVD recorder records each of the videos as a separate "title". When I place the DVD disc in my iMac and double click on it, I see two folders: VIDEO_RM and VIDEO_TS. I want to extract one of the titles, videos (about 5 minutes long) and upload it to YouTube but have absolutely no idea as to how to go about it. I suspect that I need some third party software and would like to know which is best and simplest to use for Mac - I am looking for something simple, uncomplicated since I know that video can get pretty confusing. I fumbled around with MPEG Streamclip which I have with the additional add on which I purchased but can't remember how I used it in the past and it certainly didn't work for me. I can't tell where the video I want to extract is located on the DVD disc so am hopelessly lost.