You can do this with programs like Camtasia and Sony Vegas. Both of these programs are good for making YouTube videos and editing them as well. They're a bit pricey, but there are other methods of getting those programs. Good luck on your YouTube channel! ^_^
If you're on Windows just use Windows Movie Maker. If you don't already have it, it's free online. If you're on Mac, you can probably manage something like this with iMovie.