A vehicle control system includes an information acquirer configured to acquire vehicle surrounding information, and a controller configured to execute driving assistance control. The controller is configured to set a first line as a target traveling line when an operation status of the driving assistance control is ON. The controller is configured to set, when a driving switching request is made, the target traveling line to cause a vehicle to travel along a second line displaced from the first line by a predetermined displacement amount after a specific timing that is a timing when a predetermined time has elapsed from a requested timing.