A starter includes a pinion gear that can be engaged with a ring gear coupled to a crankshaft of an engine, an actuator to move the pinion gear to a position where the pinion gear is engaged with the ring gear in a driven state, and a motor to rotate the pinion gear. When the engine is started in response to a driver's start intention, any mode of an engagement mode in which the actuator causes the pinion gear to engage with the ring gear before the motor is driven and a rotation mode in which the motor is driven before the actuator is driven is selected. When the engine is started not in response to a driver's start intention, the engagement mode is selected.