That's a DVD called "Ys Special Collection -All About Falcom-". It was originally a VHS/laserdisc that Falcom put out around the time both Ys IV games were released (1993), but it was later re-issued as a bonus DVD with the Japanese Limited Edition of Ys VI: The Ark of Napishtim for PC in 2003.
Sadly I can't find the whole thing on YouTube, but here's a few videos taken from it:
Ys II "Endless History" Anime Music Video (1993)
"Ys IV: The Dawn of Ys" OVA Promo
"Ys IV: The Dawn of Ys" Epic Promo/Demo with Falcom® J.D.K. band (1993)*
"The Legend of Xanadu" Promo/Demo by Falcom® (1993)
Tour of the Falcom® Store plus Promotional Material (1993)
And here's the website for it:
http://www.falcom.co.jp/ys6/complete/ys_sc.html
*I find hilarious how they used a Ryo Yonemitsu arrangement from the Falcom Special Box '93 on top of that J.D.K. Band footage, lol.