"Steering is Simple enough-you push the bars in the opposite direction of the direction you wish to travel. That begins the turn, and the bike leans as it turns. Deliberately turing the bars in the opposite direction of travel is counter steering. Counter means "against," and to steer means to "guide or direct." To go right you must turn the bars right-to go left, turn the bars right. Counter steering is the only way you can direct a motorcycle to steer accurately.
This, in fact, is how you've been steering your motorcycle all the time, whether you knew it or not. You cannot steer a motorcycle simply by leaning it. You can get it to veer off in either direction by leaning your weight off to one side at low speeds, but that isn't steering. We are talking about controlling the bike, and that method is something less than control. You can only guess where the bike will go. at speed you can't do much of anything if you're not holding ont to the handlebars.
Lets take a look at what happens when you steer. You are approaching a right-hand turn. You lean right, and the bike begins to go right. Since you are holding onto the bar and moving over to the right your left arm is pulling the left side of the bar towards you, which turns the bars to the left. If you lean left to go around a left turn, you pull on the right bar. This must happen if you're holding onto the bars. If you're not holding the bars, the bike will not begin to turn where you lean. You may be ppushing the other bar as well as pulling- it all depends on how you hold your bars."
Keith Code-Twist Of the Wrist...Chapter Nine(Steering, It Happens Backwards.)