Unclear settings on android tablet?

I'm on a Samsung android right now, and I need to know how to do this thing, except I'm not entirely sure how to explain it.
When you first get a Samsung tablet or a phone and you go onto Google Chrome, for example, and you type in something you want to watch (How to make a donut youtube) and then links will come up on Google, if I were to hit the first link to a video I see, a little box would pop up asking me whether I want to open the video on Google Chrome or on YouTube, and then I'd press one and choose ( I don't remember the actual phrasing) 'always' or 'just this once'. When you press 'always' it says ' please go to… And clear…'. I always do 'just this once', but now someone's done always-so when I ty and open up a video on Google it'll take me straight to the youtube app without asking, which isn't what I want. How do I unclear (?) Those settings? What exactly do I do?
Super sorry for the long explanation for something so simple.

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