/u/Veritasium explains it well in [https://youtu.be/9cNmUNHSBac](https://youtu.be/9cNmUNHSBac).
Essentially bicycles are design to “self correct” and stay upright when in motion.
When the bike lean in one direction, the front wheel will turn to counter the motion and keep them upright – as long as they are moving forward.
[edit: fix user mention]
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