A vehicle management system for managing vehicles used by users has a usage managing unit that accepts a user's request for using the vehicle and to set a return space among parking spaces as a planned return space when the user's request is accepted, the return space being a space to which the vehicle is to be returned by the user after the vehicle is used by the user, a return determining unit that determines whether or not the vehicle is returned to the planned return space set by the usage managing unit when the vehicle is actually used and returned by the user, a return permitting unit that permits a return of the vehicle in a case where the return determining unit determines that the vehicle is returned to the planned return space, and a notification unit.