From what I can see on the video, the membrane that looks a little brown is the outer membrane that sits just under the shell. The baby is also wrapped in an inner membrane, so we can't see what the inner membrane looks like. If its dry, or brown, or moist as it should be.
Personally, I would try to inspect under that outer membrane flap and try to see inside. Once you look under that membrane, you should be able to determine if it needs help, or if it is progressing naturally.
I'm also wondering if the egg is upside down, or if the baby is actually upside down, since it pipped down toward the floor. Can you see the beak enough to see which way it is positioned? Not that it really matters, but if it is upside down, I would roll the egg over and put the pip on top, so the baby can maybe orient itself more easily.
