A shift control device includes: a selector configured to receive operation of selecting a shift range of an automatic transmission and output selection information corresponding to the operation, the automatic transmission being configured to convert and output driving force of an engine; a range switch controller configured to switch the shift range in accordance with the selection information; a parking mechanism configured to bring the automatic transmission into a parking state by locking rotation of the automatic transmission; a clutch configured to turn on/off transmission of driving force; a clutch controller configured to control operation of the clutch in accordance with the selection information; and a delay setter configured to set delay time until driving of the parking pawl starts on the basis of rotation speed difference and oil temperature of the automatic transmission when selection information indicating that the parking range is selected is output.