I learned how to do this really well.
I broke off my handlebars on an old bmx bike when I was younger.
Then I taught myself to ride the bike without the handles.
The trick is to keep pedaling. That helps me.
Naturally you just lean when you want to turn.
How about to practice, ride around with your hands hovering above the bars, and when you start to lose control you can grab them. The more you do this the less you will need your hands.
Try it.