Find an area (parking lot, park grounds, etc.) with no traffic and lay out a course. I would make it simple at first with just one technical turn. Focus on taking different lines through that turn. Inside, outside, shortest, early apex, late apex. Make note if how your weight needs to shift and when for each variant. Vary the weight on your outside foot. Once you feel comfortable with various lines through that corner, start to practice pedaling through instead of coasting.