A vehicle control system includes a determiner configured to determine whether or not a driver has performed a predetermined acceleration or deceleration operation; a detector configured to detect a value of at least one of a relative rotational position and relative rotational speed of an input shaft and an output shaft, the input shaft being positioned upstream of an engagement portion of driving power transmission members which are engaged with each other with a slack on a driving power transmission path, and the output shaft being positioned downstream of the engagement portion, and a controller configured to execute control for accelerating or decelerating the input shaft or the output shaft to reduce at least one of a contact speed and transmission torque of the driving power transmission members based on the value detected by the detector, if the determiner determines that the driver has performed the acceleration or deceleration operation.