If you ever had to swerve to get out of the way of something that suddenly popped up in front of you (like a car backing out of a driveway), you were countersteering.

 

I think it just feels natural to me, weather I'm countersteering with my hips or with the bars.
I took the class and it was exactly what I had already been doing, seems to come natural to me.

 

Hehehe.......look at me everyone! I'm countersteering on my computer!