To darken a video on iPhone, open it in Photos, tap the Edit button, tap Adjust and drag Exposure to the left. Then lower Highlights if a sky or window is glaring, and raise Black Point if the picture looks grey. Tap Done. The edit applies to the whole clip, and you can undo it any time with Revert to Original.
Photos is quick, but it judges by eye and shows one version at a time. If you want an automatic correction that measures the clip, a split before and after view and a readout of how much of the frame is blown out, open this page in Safari and use the tool at the top. It runs on the phone itself; the video is not uploaded.