The invention provides a vehicle control device, a vehicle control method, and a storage medium. The vehicle control device can take lane change of other vehicles or passengers into account. The vehicle control device comprises: a detector detecting other vehicles; a lane change executer executing a lane change of a subject vehicle on the basis of states of the other vehicles detected by the detector without depending on a steering operation of a vehicle occupant of the subject vehicle; a determiner determining whether or not the lane change is to be continued on the basis of the states of theother vehicles executing a lane change from a third lane adjacent to a second lane to the second lane, which are being detected or have been detected by the detector, after control of executing a lane change of the subject vehicle from a first lane to the second lane adjacent to the first lane is started by the lane change executer; and a return controller returning the subject vehicle from the second lane to the first lane in a case in which it is determined that the lane change is not to be continued by the determiner.