As a teenager I marveled at how I rode a bike. It was a complete mystery how turning was done. I thought about turning, and my bike turned. I finally figured it out, by carefully watching what I did when riding very slowly.
To turn left, I turned the handlebars ever so slightly to the right. This caused the bike to lean to the left, then I turned the handlebars left.
To turn left, I turned the handlebars ever so slightly to the right. This caused the bike to lean to the left, then I turned the handlebars left.