A vehicle control device includes a recognizer 130 which recognizes a surrounding situation of a host vehicle and a driving controller 140 and 160 which executes driving control by controlling one or both of steering and acceleration/deceleration of the host vehicle on the basis of the surrounding situation recognized by the recognizer, wherein the driving controller assigns predetermined required tasks to an occupant of the host vehicle to execute the driving control when there is a gap of a threshold value or more between first speed information determined from at least one of a traveling speed of the host vehicle and a target speed and second speed information determined from at least one of a speed limit in a lane in which the host vehicle is traveling and a speed of a neighboring vehicle traveling around the host vehicle.