If you want to link to Youtube so it can be played embedded, you need to take the video ID (the set of characters to the right of the "watch?v=" part of the Youtube URL) and insert it between these characters:
[noparse]
[/noparse]
For your video, you would enter this into your text:
[noparse]
[/noparse]
The following web page should give you and anyone else reading this post more information on examples of other tags that the PoA software understands that can be used to enhance your own posts: