A vehicle control device of the embodiment includes a recognizer configured to recognize a surrounding situation of a vehicle and a driving controller configured to control one or both of steering and a speed of the vehicle on the basis of the surrounding situation recognized by the recognizer, in which the driving controller causes the vehicle to travel by executing any one of a plurality of driving modes including at least a first driving mode and a second driving mode in which a task imposed on an occupant of the vehicle is heavier than in the first driving mode, and switches from the first driving mode to the second driving mode when a first section in which the number of lanes of a road on which the vehicle travels is different from the current number of lanes and a second section in which a road having at least three lanes branches are present within a predetermined distance in a traveling direction of the vehicle while the first driving mode is executed.