An audio output control device includes a control device that adjusts an output of earlier audio information and an output of later audio information in a situation where a request for outputting the later audio information is made before the output of the earlier audio information ends. The control device includes: a first acquisition device that acquires end time information of the earlier audio information; a second acquisition device that acquires delay permissible information of the later audio information; and a first determination device that determines whether a wait for outputting the later audio information is available, according to the end time information and the delay permissible information. When the wait is available, the control device outputs the later audio information after preferentially executing the output of the earlier audio information.