In a vehicular driving system and a driving method thereof in which a vehicle is driven toward a loading point, a waiting point is set on a driving path. The vehicle drives from an entry point of a loading site to the waiting point along the driving path, and stands by at the waiting point until permission is given by a loader. When there is an order to change the loading point when the vehicle is at the waiting point or driving to the waiting point, a partial driving path is created, and the vehicle drives from the waiting point to the new loading point along the partial driving path. When there is no order to change the loading point when the vehicle is at the waiting point or driving to the waiting point, the vehicle drives from the waiting point to the original loading point along the driving path.