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YouTube - there's an app for that. You don't have to go to Safari to use YouTube. Click on the app and search for the videos you want. You've probably noticed by now there are all kinds of app tutorials on YouTube. If you have an app and find the instructions are not very user friendly then go to YouTube and search for the app. I usually search for name of app + tutorial. Also, many apps have webpages associated with them. For example, the app ShowMe has a webpage where the videos can be store:
The full version is $5.99.

The link below contains the complete instructions for downloading YouTube videos on your iPad.
How to Download YouTube Videos on your iPad