Ok, I guess I could have provided more info. Do this if you own a bicycle: hold it by the saddle perfectly straight, front of the bike forward. Make it lean on the left (no forward movement). Look at the handle, it steers left. When you're moving this means that when you lean left there will be a torque, due to your circular path you'll be following, that will try to make the bike lean right.

Bend left -> torque to the right, bend right -> torque to the left. Here you have the basic ingredient for stability: the one torqueless angle is the bike going straight perfectly vertical wrt the ground, while any perturbation leads to a torque in the opposite direction.

I felt it was basic stuff maybe it's not?