YouTube videos are not monetized by default. Before you can start making money with YouTube, let alone getting paid by YouTube, you have to enable monetization in your YouTube account's settings. Once you enable monetization, you will be able to enable monetization for each video you upload to your YouTube channel. Keep in mind that only the videos for which you enable monetization will be eligible for ads from which you can make money.
When you do have monetization enabled for your YouTube account and individual videos, you have to associate your YouTube account with an AdSense account before you can start receiving payouts for your YouTube revenue. You do not automatically have an AdSense account just because you have a Google account. It can still be under the same account as you use for YouTube, but you must set it up with a bank account and mailing address. After setting up AdSense, go into your YouTube monetization settings to associate your YouTube account with your new AdSense account.
Once your YouTube account is all setup with monetized content and an AdSense account, you will be paid at the beginning of each month for the revenue you earned in the previous month. This assumes, however, that you have met the payment threshold of 100 dollars in unpaid revenue by the last day of the previous month. You will also need to provide your tax information after you pass a certain revenue threshold before you receive payouts.
YouTube pay is performance based, and if you want to get paid by YouTube you will need to drive traffic to your videos to see and click on Google's ads. In addition to generating great content that will make people want to subscribe to your channel and keep coming back to see your videos, you will need to advertise your videos as widely possible. You can do this by posting links to your new videos on your blog or website, as well as posting video link