A vehicle control device, including a vehicle control unit that controls engagement between an engine and a starter motor for starting the engine, wherein the vehicle control unit, along with cutting off fuel supply to the engine and causing the engine to rotate inertially, also, in a state in which fuel supply to the engine is cut off and the starter motor is not engaged with the engine, rotates the starter motor, and thereafter controls supply of electrical power to the starter motor so as to causes the starter motor to rotate inertially, and engages the starter motor to the engine while both the engine and the starter motor are performing inertial rotation.