Needing Help with Counter Melodies

So Im still relatively new to composing orchestral pieces with sound libraries on my computer, Iv started a few pieces, but they are unfinished as of right now. I would like to be able to use different instruments to have counter melodies going on with my main melody, but my attempts almost never come out right or sounding any good.

I guess I am looking for help, on how to compose good or even decent sounding counter melodies. Any advice, or even articles online/books to direct me to, would be very helpful as I have always learned best by self help books or studying.

This Guy is helpful with this topic https://www.youtube.com/watch?v=DWjyds4yRAA

It starts basic but I suggest watching every video. 

In general you will need to think ahead with an idea of the sound you want to create each time. What I do with counter-melody is I hum my given melody, and while knowing my goal for that phrase I hum my counter-melody. Some people just know what to write, others just find harmonies and mix and match notes to fit a given harmony. Go in with a plan, and come out with strong sounding piece that might've broken a rule or two while you were making it.