Go to Youtube and Sign in.Then click on my channel from upper right corner like shown in below img
Then Set Name for your channel and click on create channel
Note:a new Google+ page will also be created for your brand.
Now your youtube channel is created
Its time to verify your channel to do that click on Channel from left side panel And click on verify after that verify it with your mobile number.Once you verified you will be partnered with youtube and you can start uploading video officially
Also Read : How to connect adsense with youtube