A vehicle control device includes a merging controller configured to generate a first plan for changing a lane of the self-vehicle to in front of or behind a first vehicle, based on a relative relationship between a position and a speed of the self-vehicle and the first vehicle, and allow the self-vehicle to change lanes to the first main lane based on the first plan when it is estimated that a third vehicle is able to change lanes to a second main lane adjacent to the first main lane without interfering with a fourth vehicle, based on a relative relationship between a position and a speed of the first vehicle or a second vehicle present behind the self-vehicle and traveling and the fourth vehicle in a case where it is assumed that the self-vehicle has changed lanes to the first main lane based on the first plan.