Should I embed my YT videos on corresponding blog articles?

Hi all, what are your thoughts on embedding a video from my Youtube channel on a blog post on my blog on the same topic? Does that help SEO? Does it not make the visitor leave earlier and not read the rest of the blog post?

And if I make a list article, is it a good idea to embed a video on each point of the list (provided I have a video on my YT channel that covers every point of the list)?

Thanks!