Paste a YouTube or Vimeo link and members can watch the class any time from their Videos tab.
Settings → Features → "Online library" → Turn on. A Library link appears in the Settings menu, and members get a Videos tab.
Upload the recording to your own YouTube or Vimeo account. Set it to unlisted if you only want your members to see it — unlisted videos do not appear in search, but anyone with the link can open them.
Settings → Library → Add video, then paste the link. The title, thumbnail and (on Vimeo) the length fill themselves in. Edit the title if you want, add a description, and pick the instructor.
Leave "Publish to members" ticked and save. Untick it to keep the video as a draft that only you and your managers can see, and publish it later from the pencil icon.