A vehicle control system includes a seat (41) on which an occupant of a vehicle sits, a first protruding mechanism (45) configured to move a pushing member (45A) provided inside the seat to adjust a protruding position and a displacement of the seat, a second protruding mechanism (46) configured to inject a gas or liquid into a bag-like member (46B) provided inside the seat to adjust the protruding position and the displacement of the seat, and a seat control unit configured to control the first protruding mechanism to cause at least a part of a contact portion between the occupant and the seat to protrude in a case that the vehicle performs a first driving mode having a degree of automated driving less than a predetermined reference and to control the second protruding mechanism to cause at least a part of the contact portion between the occupant and the seat to protrude in a case that the vehicle performs a second driving mode having a degree of automated driving equal to or higher than the predetermined reference.