A vehicle control system includes: a recommended lane setter configured to set a recommended lane in which an own vehicle is to travel along a route to a destination; a reception unit configured to receive an operation by an occupant of the own vehicle; and an automatic driving controller configured to control steering and acceleration or deceleration of the own vehicle such that the own vehicle travels in the recommended lane set by the recommended lane setter. The automatic driving controller is configured to change a lane of the own vehicle to another lane different from the recommended lane and is configured to control the steering and the acceleration or deceleration speed of the own vehicle such that the traveling in a lane of a lane change destination is maintained until a predetermined condition is satisfied when the reception unit receives a predetermined operation.