A behavior control system capable of controlling the behavior of an agent (robot) such that the agent securely applies a force to a moving object. The behavior control system calculates the degree of overlapping of a time-series probability density distribution between a predicted position trajectory of an object (ball) and a position trajectory candidate of a counter object (racket). Further, a behavior plan of the agent (robot) is generated such that the counter object is moved according to a desired position trajectory, which is a mean position trajectory or a central position trajectory of a position trajectory candidate of the counter object which has the highest degree of overlapping with the predicted position trajectory of the object among a plurality of position trajectory candidates of the counter object.