A vehicle control system includes an in-vehicle apparatus. The in-vehicle apparatus includes a drive device, an authentication unit, a determining unit, and an operation detecting unit. The authentication unit is configured to perform authentication of a mobile device on the basis of a wireless communication. The determining unit is configured to determine whether a vehicle is in a predetermined driving state. The operation detecting unit is configured to detect presence of an operation of the mobile device by receiving a signal transmitted from the mobile device. The in-vehicle apparatus is configured to execute a predetermined safety control, on a condition that the drive device is unlocked as a result of success in the authentication performed by the authentication unit, the vehicle is determined by the determining unit as being in the predetermined driving state, and the operation of the mobile device is detected by the operation detecting unit.