A vehicle control system includes a recognizer that recognizes a peripheral situation of a vehicle, a driving controller that automatically performs speed control and steering control of the vehicle on the basis of a recognition result of the recognizer, and a determiner that determines whether a predetermined condition indicating that automated parking is not adequate is satisfied when a user exits the vehicle. The driving controller causes the vehicle to start to travel from a stop state and stop at a parking lot in a case where it is determined by the determiner that the predetermined condition is not satisfied, and causes the vehicle not to start to travel from a stop state and stop at a parking lot in a case where it is determined by the determiner that the predetermined condition is satisfied.