After you log into Panopto, you will see a Create button.
If you have already recorded your video, choose "Upload media."
If you will be recording your video using Panopto you can choose "Record a new session" or "Panopto Capture"
Once the video is uploaded, you can choose "Share" from the main listing under the title of your video.
You can then specify who has access. Here are popular options: