A control system for a vehicle including a power transmission system and a switching device has an electronic control unit configured to make a door open-close determination as to whether a door of the vehicle is open or closed, using an open-close signal indicating opening or closing of the door, and execute automatic parking control by causing the switching device to switch the power transmission system to the parking state, when the door open-close determination indicates that the door is open, while the vehicle is stopped with the power transmission system placed in the non-parking state. The electronic control unit determines that the door is open, when the open-close signal generated from at least one of a plurality of sensors provided for the same door changes from a close signal to an open signal.