A control system for a vehicle includes: an engine; a first electric motor configured to output a starting torque for starting the engine; a second electric motor configured to output a starting torque for starting the engine and a running torque; an electrical storage device configured to supply electric power to the first electric motor and the second electric motor; and a controller configured to start the engine with the use of both the first electric motor and the second electric motor at the time of starting the engine when the sum of a required driving torque that is required for the vehicle and a required starting torque that is required to start the engine is larger than a maximum output torque of the second electric motor, which is outputtable at the electric power from the electrical storage device.