Before you can really begin to understand counter steering, you have to be able to “feel” your motorcycle. As you are finding balance, look for an area on your seat where you can sit that keeps the steering feel neutral. In other words, you don’t have to rely on steering input to keep the bike tracking straight down the road.
To find that point, visualize a vertical plane passing through the center of your bike from front to back. Now, divide the bike into halves on its long axis. If the bike’s center of mass, including you, your load, and your passenger, is centered on this plane, the bike will travel straight down the road. The assumption here is your tires are in good shape.
You may have to shift your sitting position left or right to find that balance point. If you do, that’s OK. Now that you’ve found that position, feel the bars in your hands. Don’t hold on tight, just relax your shoulders and your grip and let the bike show you it’s happy and balanced.
What now?
When you have that relaxed grip feeling dialed in, get a feel for the steering input by lightly pushing on one grip. Your bike should move in the direction you pushed. That’s counter steering.
Work with this concept of finding balance to really gain control over your machine. Relax, have fun!