A mooring system moors a floating structure to a mooring facility, one of the floating structure and the mooring facility being a first object, the other being a second object. The mooring system includes: a mooring rope; a winch that is located at the second object and winds and unwinds the mooring rope; a locking tool that is located at the second object and locks a tip portion of the mooring rope such that the tip portion of the mooring rope is engageable with and disengageable from the locking tool; at least one unmanned machine including a holding tool that holds the mooring rope; and a control device configured to control the unmanned machine such that the unmanned machine moves from the second object to a mooring bit located at the first object while holding the mooring rope, and hangs an intermediate portion of the mooring rope to the mooring bit, the intermediate portion being a portion between the tip portion of the mooring rope and a base portion of the mooring rope which is unwound from the winch.