The manipulation of solid states using intense infrared or terahertz light fields is a pivotal area in contemporary ultrafast photonics research. While conventional circular polarization has been well explored, the potential of counterrotating bicircular light remains widely underexplored, despite growing interest in theory. In the mid-infrared or multi-terahertz region, experimental challenges lie in difficulties in stabilizing the relative phase between two-color lights and the lack of available polarization elements. Here, we successfully generated phase-stable counterrotating bicircular light pulses in the 14–39 THz frequency range circumventing the above problems. Employing spectral broadening, polarization pulse shaping with a spatial light modulator, and intra-pulse difference frequency generation leveraging a distinctive angular-momentum selection rule within the nonlinear crystal, we achieved direct conversion from near-infrared pulses into the designed counterrotating bicircular multi-terahertz pulses. Use of the spatial light modulator enables programmable control over the shape, orientation, rotational symmetry, and helicity of the bicircular light field trajectory. This advancement provides a novel pathway for the programmable manipulation of light fields, and marks a significant step toward understanding and harnessing the impact of tailored light fields on matter, particularly in the context of topological semimetals.