A vehicle control system includes a receiver which receives an operation of an occupant of a vehicle and, according to the received operation, changes to any one of a plurality of states including a first state before an operation is received and a second state after the operation is received, a direction indicator which is actuated when the receiver has changed to the second state, and a lane change controller which executes lane change control for changing lanes of the vehicle to other lanes independently of a steering operation of the occupant of the vehicle according to change of the receiver from the first state to the second state, wherein the lane change controller continuously actuates the direction indicator until the execution situation of the lane change control becomes a predetermined situation even after the receiver has changed from the second state to the first state when the lane change control is executed.