A vehicle control system includes: a lane change support control unit (150) configured to execute lane change of a vehicle independently of a steering operation by an occupant of the vehicle by receiving an operation from the occupant of the vehicle; a road information acquiring unit (151) configured to acquire a type of a road on which the vehicle is traveling; a lane changeability determining unit (152, 153) configured to determine whether lane change of the vehicle is to be executed by the lane change support control unit; and a lane keeping support control unit (140) configured to control a steering device such that the vehicle is prevented from departing from a lane on which the vehicle is traveling independently of the steering operation by the occupant of the vehicle and to continue to perform a lane keeping operation in a case that the lane changeability determining unit determines that lane change of the vehicle is not to be executed on the basis of the type of the road.