Hey 2less,
When I started making videos for YouTube I found it useful to write down in detail what I was going to talk about and make sure I knew what I was going to talk about. Maybe run through it a few times.
Don't expect to do it all in one take. Try cutting the takes down and then piece them together in the edit. That way you can build confidence and re-do any mistakes with a short re-take.
Over time you will build confidence if you are comfortable in what you are talking about.
Now that I've been doing it for a while I just write down a small list of what I want to record and can generally talk quite freely, but mistakes are still made! No-one is perfect, even the big YouTubers make mistakes. I tend to leave the small ones in now.
The biggest struggle is making it as entertaining or novel as possible so people what to actually watch.
Make sure you have fun with it though!
Wish you all the best with it