Steering the rear wheels into the curve forces the car's rear back towards the inside of the curve and moves the longitudinal axis back towards the direction of motion, reducing the sideslip angle. (e31wiki.org)
I'll just concentrate on the steering angle of the front wheel at the inside of the curve and ignore the wheel at the other side. (asawicki.info)
The sideslip points the vehicle's longitudinal axis towards the inside of the curve, amplifying the steering angle of the front wheels on the direction of motion. (e31wiki.org)