The first thing that you may want to adjust is the "arm release."
Make sure you arm "dragging the arms" down from the top until late in the downswing, before you slow the pivot and let the arm release occur.
Secondarily, make sure your hips are far enough toward the target at impact—and far enough around.
That ought to do it.
Now, as far as "counterfall" goes....
"Counterfall" is simply the beginning of the downswing weight shift, that occurs as a "fall" because the weight was taken—correctly—off the left foot, and not totally ON the right foot, without too much head movement, and into some resistance from the right leg angle.