I have never grokked written or verbal explanations of countersteering. I have been riding bicycles and motorcycles for almost 5 decades now - I do it all the time in practice. But explaining it makes it weird.
The part I find amazing is you understand how to make this work in a part of your brain that apparently doesn’t communicate with the conscious understanding part. People can ride a motorcycle and not even understand how to make it turn, yet they do it.