A steering system includes: a variable mechanism that reversibly changes a configuration of an operating member between a configuration for automated driving and a configuration for manual driving, the configuration including at least one of a position, an orientation, and a shape; a variable drive source; a receiver that receives an operation of a driver; and a controller that controls the variable drive source to cause the variable mechanism to return the configuration of the operating member to the configuration for manual driving, when the receiver receives the operation of the driver in a period when the configuration of the operating member is being changed.