And for anyone who doesn't believe they are countersteering a bicycle, i.e., turn left to go right and lean right OR turn right to go left and lean left... take a minute and visualize yourself going through a corner or turning manuever on your bicycle and think about what you're doing with your arms.
If you're going through a left turn which arm is bent at the elbow the most? That right, it's the right arm!! And if you are going through a right turn you bend your left arm more than the right. Welcome to countersteering. You've been doing all along but didn't know it.