A vehicle control system for improving vibration suppressing performance and acceleration response is provided. A controller is configured to set the torque transmitting capacity of an engagement device to a first torque transmitting capacity that is smaller than a value required to transmit a peak value of a second drive torque applied to an output shaft of a transmission having the engagement device but greater than a value required to transmit an estimated first drive torque generated by an engine, when the second drive torque is amplified by pulsation of the first drive torque.