Embed WordPress Video

Alright, so I’ve decided to start a video blog on part of my site so that I could upload and control the videos myself. The only problem is, after a bit of searching, the only easy way I’ve found to embed a video from your media library is to go through wordpress.com and use VideoPress. Which I find a little off-putting, since you have to pay 60 dollars and have an account over there. What’s the point of hosting your blog if you have to pay for that too, but I digress. Is there any free way of embedding the videos from your media library onto your blog? Keeping in mind that I am pretty good with coding, but am no means an expert.