I won’t mention the term “counter steering” to a new rider. It is much simpler for a new rider to understand “lean left, go left; lean right, go right.” Sure, it’s initiated at the bar but you should use your whole body to turn a motorcycle….feet, ankles, knees, upper body. Like already mentioned, a light relaxed grip on the bars and where you look is ultra-important. It can take years of practice to be relaxed and “at one” with a motorcycle. That’s one of the many things I like about riding…no matter how good you get, there’s always room for improvement.