You simply need to outer join your tables and note the conditions are part of the joining criteria, not a filtering criteria as you still require all rows:

select v.UserId, c.Id, c.Name 
from countries c
left join visitedcountries v on v.CountryId = c.Id and v.UserId = 1;

SQL Fiddle

MySQL 5.6 Schema Setup:

CREATE TABLE Countries
    (`ID` int, `Name` varchar(7))
;
    
INSERT INTO Countries
    (`ID`, `Name`)
VALUES
    (1, 'Japan'),
    (2, 'Egypt'),
    (3, 'France'),
    (4, 'England'),
    (5, 'Canada')
;

CREATE TABLE VisitedCountries
    (`UserID` int, `CountryID` int)
;
    
INSERT INTO VisitedCountries
    (`UserID`, `CountryID`)
VALUES
    (1, 2),
    (1, 3),
    (1, 5),
    (2, 4),
    (3, 1),
    (3, 5)
;

Query 1:

SELECT c.*, vc.UserID   
FROM Countries AS c 
JOIN VisitedCountries AS vc ON vc.CountryID = c.ID   
WHERE vc.UserID = '1'

Results:

| ID |   Name | UserID |
|----|--------|--------|
|  2 |  Egypt |      1 |
|  3 | France |      1 |
|  5 | Canada |      1 |

Query 2:

SELECT c.*, vc.UserID   
FROM Countries AS c 
LEFT JOIN VisitedCountries AS vc ON vc.CountryID = c.ID AND  vc.UserID = '1'

Results:

| ID |    Name | UserID |
|----|---------|--------|
|  2 |   Egypt |      1 |
|  3 |  France |      1 |
|  5 |  Canada |      1 |
|  1 |   Japan | (null) |
|  4 | England | (null) |

Move the condition on left joined table column from WHERE into ON clause of LEFT JOIN

SELECT c.*, vc.UID   
FROM [Countries] AS c 
LEFT JOIN [VisitedCountries] AS vc ON vc.CID = c.ID AND vc.UID = '1'