Ronnie Bincer shared with me a step by step guide on How to Change your YouTube Channel Name... to be YOU!:
The Name Change option will be offered to you when YouTube determines your account is ready and you are trying to make a comment.It's easy and seems ike a good idea. In my case, my YouTube name changed from stevegarfield to Steve Garfield.
Your YouTube URL remains the same: http://www.youtube.com/stevegarfield
Here's my step by step walkthrough of the screens you'll see on YouTube when you change to start using your full name on Youtube.
Screen 1: You can now Start using your full name on YouTube.
Screen 2: Your full name will replace your username on YouTube
Screen 3: You are now using your full name on YouTube
Also note: YouTube Connects YOU with Google Plus... so you can put a link in your YouTube video to link to your Google+ Profile page.