I understand what you mean but keep in mind there are some great benefits to using YouTube. You'll likely get traffic from people who would not have necessarily found your site. There's no way my videos would have gotten as many views if I had only displayed them from my site. I can't tell you the number of people who have told me they found my site through YouTube.
But to answer your question, you can upload it later. Software like Windows Movie Maker, Pinnacle, etc. will publish your video in web-friendly formats like .wmv, .avi, etc. and most provide the code that you need to paste into your site so all you do is upload the video file and add the provided code.
Just make sure that if you do plan to upload it to YouTube later that you keep your video under 10 minutes or YouTube will reject it. Also remember YouTube's standard video size is something like 440x335 (give or take a few pixels) so you'll want to keep that ratio or your video will be distorted in YouTube.
And as far as generating traffic back to your site, YouTube videos work a lot like content for the search engines. If you want people to find you by typing in "photoshop tutorials", make videos about photoshop tutorials and tag them appropriately. YouTube allows you to put your site's URL in your description now so when people watch your video they can click over to your site.
You can also add annotations to your videos through YouTube, which are embedded links that you can add to your video after it's loaded to YouTube.
Good luck!