you already do it - lean, countersteer , body position.
On low speed say low speed handle you turn the wheel in the direction you go, however above some speed (say 20mph) the only way to do a turn on a bike is to do countersteering and leaning the bike.
Here is the way how you do it (without knowing):
From experience you have learned that if you do not lean the bike you cannot turn.
Say you approach left turn. You lean to the left. Actually when you lean you also do: pull the right handle and push the left handle - voila you have done countesteering :-)
Its important to understand that countersteering makes bike to lean, and in high speed leaning makes bike to turn.
So the question is not how to do it, because you already do it. The faster the speed the more gentle is your touch. Again nothing to learn here because you cannot ride without doing it.
Hope this explains it to you :-)
One more thing related to turning is if you transfer your weight from the saddle to the pegs by standing a little bit on your feet, and you move your bum in the direction of your turn, this actually makes the bike way more stable because the weight go transfrered low and you do not need to have more leaning.
It was very common mistake for me to try to move my body in the opposite direction of bike leaning - then in fact in order to turn the bike it needs even more lean angle because of the weight distribution.
If you have wrong body position and weight distribution you will need more countersteering and more lean in order to turn the bike. Countersteering itself does not make you good rider. In fact best riders turn the bike with less countersteering and less leaning.
So better and lower weight distribution - less leaning and countersteering in order to do the turn.
So turning bike is a complex process and countersteering is one part of it. Your body position and weight distribution also counts.
Look at dirt riders and the way they stand on pegs - the reason is dirt riding extreme condition require the weight to be distributed as low as possible. On track race they do the same distributing the weight to the pegs, but it is not as visible because of the high speed and the facts of aerodynamics they aslo need to stay in overall very low body position not stand as dirt ones.