A control system for a vehicle includes a steering control unit and an electronic control unit. The steering control unit is configured to control a steering angle of a wheel of the vehicle. The electronic control unit is configured to acquire a target steering angle set as a target to move the vehicle, adjust the acquired target steering angle such that the target steering angle does not exceed a first guard value determined in order to inhibit a change in the steering angle of the vehicle, larger than or equal to a first reference, output the adjusted target steering angle to the steering control unit in order for the steering control unit to control the steering angle to the adjusted target steering angle, and change the first guard value in response to a situation of the vehicle.