A control system for a work vehicle includes a storage device and a controller in communication with the storage device. The storage device stores target parameter data defining a relationship between a movement distance of the work vehicle and a target parameter related to a target digging amount of a work implement of the work vehicle. The target parameter data includes digging time data defining a relationship between the movement distance of the work vehicle within a predetermined digging area and the target parameter. The controller determines a target return distance from a distance of the digging area defined in the target parameter data, and determines a position returned from a predetermined reference position by the target return distance as a recommended digging start position.