A vehicle control system includes: a terminal including an input/output unit and configured to be carried by a user; and a control device configured to perform wireless communication with the terminal and to execute autonomous parking processing to move a vehicle to a parking position and to park the vehicle at the parking position, wherein the control device includes a vehicle position identifying unit configured to detect a position of the vehicle, and an action plan unit configured to set a reference position where the user is deemed to hold the terminal outside the vehicle without moving and to compute a traveling route of the vehicle from an alighting position where the user alights from the vehicle to the parking position such that a condition that a distance from the reference position to the vehicle does not exceed a prescribed value is satisfied.