Before I start, my general advice in marketing your videos is to do it consistently, but spread out. Like, don't market your video on Instagram immediately when you upload it. I don't know why. I rather have 3 days of 100 views per day than a day of a 300 view spike then very small on the next few days.
Anyway, here's what I do on Instagram.
I will assume that you already have followers and you know what hashtags to use.
The first thing I do is to upload the thumbnail of the video on Instagram and include the link in the caption. This seems to be easy.
The next thing I do is upload 16 seconds (cuz that's the max allowed on Insta) of highlight footage on instagram. Think of it like uploading a vine. Short, but sweet, and if I really liked the highlight, I'll go check out the video.
That's pretty much it for me, I guess.
Good luck man! Looking forward for the future of your channel, as I am a fan of your concept!