It's been a long time since 1st year engineering physics. I wanted to really understand countersteering. Naturally, I went to Wikipedia and found a great graphic. I hope it displays or at least lets you click on it.
A bike wheel has no gimbal pivot. But, the bottom of the wheel is held on the road and the top of the wheel can move, that is, lean.
I think this is the best illustration I have found, what do you think?