Whats the best way to keep your cat off your kitchen counters?

My older cat never jumps up on our counter, I guess he know better, we never had this problem with him. But my 2 year old female cat is always getting caught up on our counter. When we catch her we say very sternly to get down and stomp our feet, she knows it is wrong, b/c if she hears us coming she jumps down and runs. My husband tried sprinkling pepper all over the counter one night before we went to bed. All that did was make a big mess and sisn't deter her. Please, any advice would help. i love my cats, this is one thing i can't stand though.