The prevailing wisdom has been that cartilage only degrades over time, but cartilage it is in fact a living tissue that can reinforce itself and adapt to stress
You can toughen up your knees by gradually ramping up the stimulus over time, and high impact sports of youth won't necessarily prevent one from being able to run a marathon in their 70s.
I also started from the Youtube videos but I got a lot more out of it after I started doing the full program with coaching.