So i don't really know what exactly you already know so hopefully I don't go over your head or leave out explanations..
Contrapuntal composition is usually taught using a method called "species counterpoint". Essentially this means that you start out by writing a very simplified version of counterpoint and gradually increasing the complexity step by step. There are 5 "species" or stages of development.
In 1725 Johann Joseph Fux published Gradus ad Parnassum (Steps to Parnassus), in which he described five species:
1. Note against note;
2. Two notes against one;
3. Four (extended by others to include three, or six, etc.) notes against one;
4. Notes offset against each other (as suspensions);
5. All the first four species together, as "florid" counterpoint.
There are seemingly a lot of rules about what notes go where, so its a lot of slow and painful thinking to get right. Dereks videos/thoughts (along with my own comments in there) seek to lesson the thinking and make it possible to improvise this on the go with minimal mental effort. I think its perhaps relevant to you because you said this..
However, I want to get to the piano and play the music
Derek's ideas will allow you to explore counterpoint at the piano in real time, rather than having to read too much and think away from the piano.
He starts out with what is essentially a simplified
First Species exercise. There is a FIXED line (he uses a scale) and you harmonise that line with notes that are "baroque sounding" which is lots of 3rds and 6ths.
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Connecting the dots.
In the inventions, use No. 1 first because you are likely most familiar with that, you will observe that there is very often a 3rd or 6th (or 10th) interval on the beat (particularly evident through passages like bars 3-4).
Suppose you strip the score down, in a similar way to you do for the motif score.. but instead you keep only the notes that are on the first beat of every bar.. You will now clearly identify the underlying harmonic structure of the work. The motifs are layered on top of this.. AND (here's the best part)
you can change the motifs
You can invert them, begin them on different notes (some of these will wont sound good, others will), turn them into retrogrades etc.. but so long as you
keep the notes that sit on the beat at the end of each motif then the harmonic structure will remain and the piece will sound okay. Even if you choose a particular change to the motif that sounds fairly bad in isolation, when you get to the fixed notes, the harmony will often resolve and things will still sound ok..
You can also try to make alterations that sound good by maintaining similar intervals as Bach does throughout, or altering the counter motif, so that it harmonises with the new motif variation.
You can also
change the fixed notes - though this will totally mess with the compositions structure and is WAY HARDER to do well at first. Example, opening motif of invention 1:
CDEFDEC (G) - if you change the G to a B, so it descends to the B directly below the last C of the motif [CDEFDEC (B)] you will alter the underlying harmonic structure and the direction of the work will change, the motif that follows in the LH (the repeated one that begins on C) will no longer fit so well and it will lend itself to beginning elsewhere.
Observe throughout the work, Bach shows you how to approach a target harmony in several different ways.. These are the main good types of changes you can make to any of the structural elements and keep the continuity of the piece, though you still have to use your ears to decide what doesnt and doesnt work really well. Bach's version is pretty damn difficult to improve on, and there are other elements of composition in play that I haven't touched on at all here.
Bar 1 - CDEFDEC -
GBar 7/8 - GABCABG -
F#Bar 16 - EFGAFGE -
F..of course there are other examples aswell, I just picked a few, look for more yourself such as approaches that use an inverted motif.
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Now, getting back to dereks stuff. He's teaching you to familiarise your self with some solid nice sounding
underlying harmonic structures which you can then layer motifs on top of of your own construction, and you can use some of bach's ideas about how to approach structural elements that you pick up from the inventions.
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Here's one I wrote myself a few months back using all these ideas, and without thinking at all about the more standard academic approach to counterpoint. (see attached)