A vehicle control device includes a display control unit configured to display a preceding vehicle image corresponding to a preceding vehicle and an overtaking proposal activation image based on a relative situation of the preceding vehicle with respect to the host vehicle and a surrounding environment of the host vehicle and configured to control display such that the overtaking proposal activation image and the preceding vehicle image approach each other in response to approaching of the host vehicle and the preceding vehicle, an automatic overtaking proposal unit configured to propose the automatic overtaking to a driver when the overtaking proposal activation image reaches the preceding vehicle image on the display screen, and a vehicle control unit configured to execute the automatic overtaking of the preceding vehicle by the host vehicle when the approval determination unit determines that the driver has approved the automatic overtaking.