short answer: you need to add them on your video.
If you log into your YouTube account and go to your video, there
should be a pencil icon under the video for "INFO AND SETTINGS." If
you look under the word PRIVATE under the BASIC INFO there should
be a spot to enter emails or contacts. When you click SHARE, they
will get a link to your video. If you're using Google+ there may be
a drop-down PRIVACY menu where you can also add contacts.
I got this info. from the Google's help
pages--YouTube/Help/Safety Center/Privacy and Safety Settings.
According to that site, PRIVATE videos won't show up on your
channel or search results.