A control system for a vehicle including a brake pedal operable by a driver and an engine includes an electronic control unit. The electronic control unit is configured to: (a) execute cruise control, the cruise control selectively executed and stopped through an operation of the driver, (b) stop the engine upon depression of the brake pedal, when the cruise control is stopped, (c) stop the engine while the vehicle is being decelerated or stopped, even when the brake pedal is not depressed, when the cruise control is executed, and (d) keep the engine stopped even when the operation to stop the cruise control is performed, after the engine is stopped and the cruise control is executed.