The two best books I found on hand quilting are 'That Perfect Stitch' by Roxanne McElroy, and 'Perfect Hand Quilting without Pain', by Liuxin Newman. The first shows the traditional quilting stitch, and can probably be found at your local library (or on amazon); the second shows a slightly different method developed by a woman who found the traditional method problematic; I bought mine used on amazon.
It's hard to explain the mechanics of hand quilting without visual aids. It's such a difficult thing to describe -- a delicate balance of actions and tensions. I believe that for most people, it takes a good deal of practice getting it right. I would strongly recommend that you start on a practice piece, not on a quilt that you want to turn out really well.
I don't know what's available on YouTube, but there's bound to be some demos.