A vehicle control system is used for a vehicle in which steering control is executable. The vehicle control system includes an operation element configured to receive a driving operation by an occupant; a contact sensor configured to detect a contact operation on the operation element from either a first side or a second side in a vehicle width direction; and a travel control unit configured to change a travel position of the vehicle in the vehicle width direction within a travel path where the vehicle is traveling if the contact sensor detects the contact operation in a state where the steering control is executable.