By choosing the video on your mobile device you can use the "send to TV" feature. To go further tap on the icon which is at top of the screen to begin playback automatically on the TV. Play and Pause buttons also available and you can also scrub the video to skip ahead.
Now the YouTube updated version is available on App Store. If you using YouTube for Android you noticed that it already has the automatic pairing feature. The update was released in last November and the Android version also has similar features like skip, pause and scroll. Application allows you to search new videos on the phone and play the video with smooth operation on the TV.