Toe Overlap

learn to counter-steer.
over much more than walking pace you don't steer a bike by turning the bars, you do it by leaning.
to induce a lean to the left, push on the left side of the bar to move it further away from you and lean the bike over. You are now steering to the right ever so slightly but turning left.

cue lots of "don't lean" comments

This is what Stephen Fry says. Must be true.