This paper addresses the challenge of decoherence in quantum computing, particularly focusing on the counter-rotating component of strong, linearly polarized drives, which becomes significant when gate times approach the qubit Larmor period. The authors develop and demonstrate two complementary protocols to mitigate this error channel: 1. **Circularly Polarized Driving**: This protocol realizes circularly polarized driving in circuit quantum electrodynamics (QED) through simultaneous charge and flux control. It allows for the tuning of drive polarization and the calibration of co-rotating drives for gates. 2. **Commensurate Pulses**: This protocol leverages the coherent and periodic nature of counter-rotating fields to regularize their contributions to gates. By applying pulses at periodically discrete times determined by the qubit Larmor period, the protocol eliminates the coherent error channel posed by counter-rotating effects. This approach is platform-independent and requires no additional calibration overhead. The authors experimentally implement these protocols using a fluxonium qubit, achieving single-qubit gate fidelities exceeding 99.997%. They also explore different drive schemes—charge, flux, and circularly polarized drives—and investigate the fidelity dependence on gate duration. The results show that the best gates are coherence-limited, with error per gate fluctuations of $\lesssim 1.13 \times 10^{-5}$ over a 34-hour measurement period. The paper highlights the importance of counter-rotating effects in fast, single-qubit gates and provides straightforward strategies to mitigate these effects, which are expected to be beneficial for realizing high-fidelity control in fault-tolerant quantum computing.This paper addresses the challenge of decoherence in quantum computing, particularly focusing on the counter-rotating component of strong, linearly polarized drives, which becomes significant when gate times approach the qubit Larmor period. The authors develop and demonstrate two complementary protocols to mitigate this error channel: 1. **Circularly Polarized Driving**: This protocol realizes circularly polarized driving in circuit quantum electrodynamics (QED) through simultaneous charge and flux control. It allows for the tuning of drive polarization and the calibration of co-rotating drives for gates. 2. **Commensurate Pulses**: This protocol leverages the coherent and periodic nature of counter-rotating fields to regularize their contributions to gates. By applying pulses at periodically discrete times determined by the qubit Larmor period, the protocol eliminates the coherent error channel posed by counter-rotating effects. This approach is platform-independent and requires no additional calibration overhead. The authors experimentally implement these protocols using a fluxonium qubit, achieving single-qubit gate fidelities exceeding 99.997%. They also explore different drive schemes—charge, flux, and circularly polarized drives—and investigate the fidelity dependence on gate duration. The results show that the best gates are coherence-limited, with error per gate fluctuations of $\lesssim 1.13 \times 10^{-5}$ over a 34-hour measurement period. The paper highlights the importance of counter-rotating effects in fast, single-qubit gates and provides straightforward strategies to mitigate these effects, which are expected to be beneficial for realizing high-fidelity control in fault-tolerant quantum computing.