A meshing-type engagement device includes a first member, a second member, a pressing mechanism, and a reaction force mechanism. The first member is provided with a plurality of first dog teeth. The second member is provided with a plurality of second dog teeth. The pressing mechanism is configured to press the first member to the second member side. The reaction force mechanism is configured to generate a reaction force with respect to a pressing force pressing the first member for the first dog teeth and the second dog teeth to mesh with each other such that the amount of increase in the reaction force with respect to a movement of the first member is larger at a position further on the second member side than a predetermined position compared to the amount of increase to the predetermined position when the first member is pressed.