Three things you might not have heard about:
Make your VideoPad output size 1280 by 720. YouTube likes this size.
Have a sound track. If there's no sound track, then YouTube probably won't give you HD. Hmmm, I don't know whether a silent sound track will fool YouTube.
Make your VideoPad output 30fps (frames per second). This is what YouTube uses (it's said), so it eliminates a conversion step, and that's always good for quality. Your camcorder probably records at 29.92fps, but VideoPad can make the conversion noprob.
Just guessing, obviously, but these help for me.