You should be completely fine. If for some reason there is a duplicate content issue, Google will just show whichever it thinks is the original video. Giving them different titles and descriptions should also help to differentiate them.
Since you are hoping to take advantage of search for your videos, it will be helpful to link from one of your videos to the other. I'd suggest putting a link on the Vimeo (on the Vimeo site) version pointing to the YouTube version, since that is the one you are hoping to rank.