A notification system includes: a first extraction unit configured to extract caution-required locations present within a predetermined distance range centered on a current position of a vehicle from a plurality of caution-required locations of which the positional information is previously acquired; a second extraction unit configured to extract caution-required locations present within a predetermined angle centered on a current traveling direction of the vehicle from the plurality of caution-required locations; a third extraction unit configured to extract, as a notification target point, a caution-required location where the current position of the vehicle is present within a predetermined angle range centered on the orientation of a link through which the vehicle is determined to pass by referring to map data holding information of a plurality of links in which positions and orientations are matched with each other, from caution-required locations extracted in common by both the first extraction unit and the second extraction unit; and an execution unit configured to execute a caution-required location traveling notification in accordance with the approach of the vehicle to the notification target point extracted by the third extraction unit.