Originally Posted by
DaveSSS
Anyone who says that countersteering only initiates a turn is clueless.
Originally Posted by
AlmostTrick
You're confusing counter steering (briefly turning the bars opposite the direction you want to turn) with applying pressure to prevent the bars from returning to straight ahead position once in a turn. When you're doing the latter as you explained, that is not counter steering. The bars are still pointing the same direction you are turning (not counter) even though you need to use force to keep them there.
Maybe DaveSSS meant that the countersteering is also used to
exit the turn? This is true. This article explains it though, no need to take a motorcycle class:
https://www.adventurecycling.org/def...ring_Heine.pdf 
Also the video here:
https://www.renehersecycles.com/myth...untersteering/
Another note: countersteering is initiated by a wheel turn, which in its turn is initiated by turning the bars or leaning -- does not matter.