Yes, there are official samples of the Youtube API being accessed with the Google API Java Client here:
https://code.google.com/p/youtube-api-samples/source/browse/#git%2Fsamples%2Fjava
There is an UploadVideo sample, and a Search sample, as well as a number of others.
In addition, there are many other samples for the Google API Java Client here:
https://code.google.com/p/google-api-java-client/source/browse/?repo=samples
A good one to check out for help with using the library in and Android application is the tasks-android-sample. There currently are no specific youtube-android samples, but you should be able to take the ideas from the both and combine them.
As an aside in case it helps: there's plenty of documentation about the API here and you can interact with the API in your browser with the API's Explorer here.