Code:
<?php 

include("include/config.php");

$VID=$_REQUEST[VID];

$query = "select * from video where type='public' and active='1' and approve='1'"; 
		  
$db=mysql_connect ($db_host,$db_user,$db_pass) or die ('I cannot connect to the database because: ' . mysql_error());
mysql_select_db ($db_name);  
$num_rows = mysql_num_rows(mysql_query("select * from video WHERE AND active = '1' and approve='1'")); 
$result = mysql_query($query) or die ('Query Error: ' . mysql_error()); 
 
header("Content-Type: text/xml"); 
header("Expires: 0");

print "<urlset xmlns=\"http://www.sitemaps.org/schemas/sitemap/0.9\" xmlns:video=\"http://www.google.com/schemas/sitemap-video/1.0\">\n";

while ($results = mysql_fetch_array($result)) 
{ 
	$title = $results['title']; 
	$viewkey = $results['vkey'];
	$VID = $results['VID'];
	$video = $results['flvdoname'];
	$duration = $results['duration'];
	$description = $results['description'];

print "<url>\n";
print "<loc>\n";
print "http://www.YOURSITE.com";
print "/";
print "view";
print "/";
print "$VID";
print "/";
print "$title";
print "/";
print "</loc>\n";
print "<video:video>\n";
print "<video:content_loc>http://www.YOURSITE.com/flvvideo/$video.flv</video:content_loc>";
print "<video:player_loc allow_embed=\"yes\">http://www.YOURSITE.com/player/player.swf</video:player_loc>";
print "<video:title>$title</video:title>";
print "<video:description>$description</video:description>";
print "<video:duration>$duration</video:duration>";
print "<video:family_friendly>yes</video:family_friendly>";
print "<video:thumbnail_loc>\n";
print "http://www.YOURSITE.com";
print "/";
print "thumb/1_";
print "$VID";
print ".jpg";
print "</video:thumbnail_loc>\n";
print "</video:video>\n";
print "</url>\n";

} 
mysql_close(); 

print "</urlset>\n";

?>
Ok if you don't have a Google Webmaster Tools account that is the first thing you are missing. Set one up; http://www.google.com/webmasters/tools/

Once that is set up, create a new file and copy and paste the above code into the the new file. Make sure you update the URL within the code to reflect your site. Save and upload the new file to the root directory of your site.

Now go back to our Google Webmasters Tools account and add a site. Then go to Sitemaps and click 'Add a sitemap'. Submit the URL to the sitemap file you just created. Give Googlebot some time to crawl your sitemap and sit back and watch the indexed videos roll in.