HOW TO COPY VIDEO RECORDED ON IPHONE TO YOUR PC?

I have a 3GS, not a Jailbroken iPhone or the videorecorder3g app. I would similar to to put the videos i available on my iPhone onto my computer, but for a little reason I can’t upload the videos to YouTube anymore. Just keeps giving me the “Can not upload ‘title of video’ to YouTube” message. I was wondering if there’s an simpler approach to get the videos off the iPhone 3GS and onto your computer?