No, everything is free, you would never be charged to upload anything. You can also decide if you want to have your content monetized or not. You might be surprised that your videos might make some money.
Reposting from my other thread for relevance to topic:
Is it possible to make Private only vids? esp if I just want to use it for a friend to see, such as a tutorial for someone to see to do something, or describe a problem I have had with something that I don't want or need to be public?