There are a lot of programs out there dedicated to this, but I personally use www.keepvid.com.
When you visit the page, you drag the little button on the top of the page to your browser's toolbar, and then whenever you watch a youtube video that you want, you click the Keep It! link in your toolbar. A page will come up asking you if you want to download it in regular or high quality, and then you click on the corresponding link.
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