If you want to download videos from YouTube, there are very few legal ways to do that. It's tempting to download videos from YouTube to either watch later or to use as a part of your own video projects, but doing so does introduce some legal issues you need to consider. If you want to download YouTube videos legally to watch later, using YouTube Red is the best way to go. If you want to download YouTube videos to use as a part of your own videos, then you'll need to consult a lawyer about whether your usage of someone else's video is considered Fair Use or not.
Read YouTube's Terms of Service: https://www.youtube.com/static?template=terms
Check out YouTube Red: http://www.youtube.com/red
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