A vehicle control device including: a remote operation signal reception section configured to be input with a remote operation signal based on an operation by an operator at a command center external to a vehicle; a control section configured to control the vehicle in a remote operation mode, based on the remote operation signal output from the command center, in a state in which remote operation of the vehicle from the command center side has been enabled; and a speech communication device configured to enable conversation between an occupant of the vehicle and an operator at the command center.