The only file there that you need to put it on you tube is: VTS_01_1.VOB
simplified process for windows XP (not sure if you use Vista):
go to my computer,right click your DVD drive, select explore, highlight the above file, and select copy.
When this is done, load it into Windows Movie Maker, edit as desired, and save as a .wmv file.
It is now ready for uploading to youtube.
I've done this quite a few times.
Also, look for VLC media player, it's free, and plays just about every kind of video format there is. It will also play stand alone VOB files on your harddrive without the need for having the DVD in the drive.