Ususally I'm a really shy person, if I don't know someone or don't know people well, so I didn't feel very comfortable with it at the beginning, too and I'm not even talking in front of the camera.
I made video of a trip to the Maldives for example, where I'm just walking around, having a drink, snorkeling, trying to make selfies with a shark and rays and stuff like this
I have absolutely no problem with people all around the world watching this, but was unsecure about how peolpe I barely know from work e.g. would react.
I showed it to a coworker, who I know for 7 years now. She tought what I did was great and told the others to take a look. Nobody of these people really care about youtube, so they told me face to face they liked the video. It's even nicer to get some feedback this way.
I think I wouldn't mind anymore about that, if I do that type of video again but I'm pretty sure it would be different, if I was maybe sitting in front of a cam and talking about something.