A vehicle stop maintaining system comprises a foot brake mechanism for braking vehicle wheels by applying hydraulic brake pressure to hydraulic brake mechanisms according to a depression of a brake pedal, a brake force control mechanism having a pressurizer that increases hydraulic brake pressure to be applied to the hydraulic brake mechanisms, braking the wheels by controlling the pressurizer independently from the depression of the brake pedal, and a controller for executing, when the vehicle is detected to be in a stopped state, a first stop mode in which the brake force control mechanism is operated to maintain the stopped state. The system includes a gear position detector for detecting a position of a gear shift lever of the vehicle. When a vehicle driver intentionally controls the gear shift lever to a reverse position in the first stop mode, the controller cancels the first stop mode.