About 1 to 10 minutes per MB depending on many things. Your upload bandwidth has a relatively small impact as long as you understand it's somewhere between 1/8th and 1/20th of your download bandwidth if you have ADSL. So I'd expect your upload to take somewhere between 2 and 20 hours to complete.
Youtube's recommended settings are MPEG4, 320x240 resolution, 30 frames per second. With a max movie length of 10 minutes unless you're a "director", they estimate an upload speed of one quarter movie length, so 40 minutes, if you have no bandwidth limitations on your side.