What you describe is not impossible, but it is very very hard. If you can balance yourself on a completely stationary bicycle (brakes fully applied), then you m

What you describe is not impossible, but it is very very hard. If you can balance yourself on a completely stationary bicycle (brakes fully applied), then you may be able to do what you describe, but for most people it is more probable that you actually do a tiny imperceptible amount of counter steer when you lean. Most people ride by counter steer without noticing because it is a tiny movement.