A vehicle control system includes a lane change intention detector that detects an intention of a lane change by an occupant of a vehicle, a recognizer that recognizes a surrounding situation of the vehicle, and a lane change controller that determines whether the lane change by the vehicle is possible based on the surrounding situation recognized by the recognizer, and changes a lane of the vehicle to another lane, independently of a steering operation of the occupant of the vehicle, based on a detection result of the lane change intention detector and the determined result, wherein the lane change controller decides a starting timing of the lane change based on whether a predetermined time has passed or the vehicle has traveled a predetermined distance after the intention of the lane change is detected by the lane change intention detector.