It depends if you looked at the continental or english style video. But yes, after you've casted on, arrange the needles so the working yarn is on the right needle regardless of whether you hold the yarn (and tail) in the right or left hand. I don't include the tail in mine, it may be easier to just drop it and work with the yarn only. There's another video at knitpicks - http://community.knitpicks.com/notes...g_in_the_Round
Many people just join by knitting the first stitch and pulling the yarn tight, but after years of doing that, I wasn't satisfied with it, was still loose and left a gap. So I learned about casting on an extra stitch and knit it together with the first one. That helped a lot. Other people just swap the first and last stitches - first st on the end of the needle, last st on the beginning of the needle - and have great success with that.