Basically wha Alan said, but to expand a bit on what he said,
1) Most certainly use a new relay to control the lights, don't just try to scab the power off of some other load!
2) While you could use any of the three sources that Alan suggests, the headlight is the best choice because it doesn't add a load to the system until after the engine has been started. Where the other two choices could allow the driving lights could be on as soon as the key is turned on, before the engine is started. That could make the difference between riding and walking when the battery gets marginal.
3) Alan is spot on with the in-line fuse suggestion, but just to clarify, make sure the new fuse gets located as close to the battery as possible. The fuse needs to protect that new wire on the battery and it won't do it if it's some place like the headlight. If that new wire shorts out anywhere along it's length, and the fuse is beyond the short, you're still going to have one very badly damaged motorcycle.
I apoligize if you already know this, but with electricity, it's as easy to do wrong as it is right, and the cost can be pretty high.
Ride Safe, and don't forget to post a picture of those lights when they're finished.
Larry
YAMAHA - Because I Think For Myself!!