Include that search term in your title and tags.
Then make a nice description that fits all your tags into it in REAL English (i.e. if your tags are "How to write a poem", "Poetry", "Writing", "English literature" and "Write better poems" then your description could be something like "In this video I show you how to write a poem. Whether you're just getting started writing poetry or you're an English literature geek already, the handy tips I share in this video will help you to write better poems." Notice how I got to use all my tags in that description but I didn't just spam tags? YouTube can tell if you just fill your description with tags without writing it in regular English, so be smart about it like the above example.
Now always transcribe and add closed captions/subtitles to these videos through the CC option. The reason for this is your captions affect your search rankings too, so the automatic captioning is going to cause you to not get ranked as highly for your tags as you would be with proper captioning. The other bonus, is say you filled up your tag box already and there were some you didn't get to include - well if you've mentioned those things in your video, and you've added closed captions to your video, then YouTube will know the video is about those things and rank you in search for them too. It's win win and everyone should caption their videos.
Now make the video public, and, check if it's ranking for some of those search terms yet. If it's on the first few pages, a tip I recommend is actually not to share your video with anyone. People who find the video in search because it's what they're looking for, will watch more of the video than someone who saw your link to it on a forum. So by letting people only find it through search, you get higher retention %, which means you dominate search rankings and will continue to get more views on a long term basis.
If on the other hand your video didn't make it to those first few pages of search to begin with, then feel free to share it to get it that boost it needs.