It is required that all videos (online or face-to-face usage) have closed captioning. YouTube does provide an autocaptioning service is the video you have recorded was not scripted and you cannot easily add captions on your own. The first video explains how to add automatic closed captioning to a YouTube video, while the second video explains how to edit automatic closed captioning.
Thank you to the Wichita State University Instructional Design and Technology department for their Creative Commons licensing of these videos.
Please visit https://support.google.com/youtube/answer/6373554?hl=en to learn more about how to use YouTube's autocaptioning services.