I use a free program called atube catcher. It can save videos from all kinds of online sites, and it's also got some other features like video conversion and screen recording. If I didn't have it, though, I'd probably just use one of the multitude of "download stuff from youtube" websites, like this one.
For the few possible linux users over here there's a nice little command line program called youtube-dl. Very simple to use, you just open the terminal, and type youtube-dl 'the url of the youtube' and it downloads it for you into your home folder.
I use Firefox with GreaseMonkey plugin and the YousableTubeFix userscript. Really handy thing. Makes the YouTube interface contain more video and less text (as it is supposed to be), has options to prevent autoplay, etc. I recommend people to try it. There is also a version for Chrome/Chromium, which does not need GreaseMonkey, because it has built-in support for userscripts.
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