A vehicle control system including a recognizer that is configured to recognize a surroundings status of a vehicle and a driving controller that is configured to control at least steering of the vehicle on the basis of the surroundings status recognized by the recognizer, and, in a case in which a obstacle present in an advancement direction of the vehicle and traffic participants present near the obstacle are recognized by the recognizer, and the vehicle is caused to avoid the obstacle, the driving controller is configured to control the vehicle on the basis of advancement directions of the traffic participants.