Ko-uchi-gari countered by Ko-uchi-gaeshi.

Counter (Kaeshi-waza).

Techniques
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1. Ko-uchi-gari (小内刈), the minor inner reap.
2. Ko-uchi-gaeshi (小内返), the minor inner reversal.

About
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As your partner reaps your heel from the inside, lifting the attacked foot clear and reaping their reaping leg with it is the minor inner counter, the named answer.
This pairing is a named technique in its own right: Ko-uchi-gaeshi, https://wazabook.com/techniques/ko-uchi-gaeshi/

Step by step (standard right-handed form)
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1. Their right sole comes in against your right heel to reap it inwards.
2. Lift that foot just clear of the mat and let the reap pass underneath, then step it down behind theirs.
3. Turn your hips towards the attack while their reaping leg is still on its way back to the floor.
4. Take their sleeve down and across with your left hand.
5. Drive your right hand into their chest or lapel, into the space their own attack opened.
6. They sit down backwards where they stood. Follow them down with the sleeve still held.

Receiving it
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You are the attacker, and the heel you swept at is not there. Your reaping leg is committed and travelling, which leaves you on one foot facing a partner whose hips are already turning in on you. The fall is backwards and short. Sit into it, keep your chin down, and slap with the free arm as your back arrives. Reaping a heel that has not yet taken weight is what leaves the leg in the air with nothing to show for it.

Demonstrations
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Kodokan: Ko-uchi-gaeshi https://www.youtube.com/watch?v=_MWAdYi_LC4
Efficient Judo: Ko-uchi-gaeshi - Demo https://www.youtube.com/watch?v=aENEt9_VmuU

VI judo notes
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Foot against foot is the clearest signal in judo to read without sight, and this counter is made of it. Their sole on your heel is the cue, and lifting rather than resisting is what makes the answer available. Keep both grips while the feet work, because your hands are what tell you where their chest is when you drive into it.

From Waza Book: https://wazabook.com/counters/ko-uchi-gari-countered-by-ko-uchi-gaeshi.txt