A control system for a vehicle, the control system comprising: a driving power source; an input rotary member configured to transmit power of the driving power source; at least one drive wheel; a stepless speed change mechanism provided on a first power transmission pathway, the first power transmission pathway being defined between the driving power source and the drive wheel; a power transmission mechanism including at least one gear position, the power transmission mechanism being provided on a second power transmission pathway, the second power transmission pathway being defined between the driving power source and the drive wheel; an output rotary member configured to deliver the power to the drive wheel, the stepless speed change mechanism and the power transmission mechanism being provided in parallel on a power transmission pathway between the input rotary member and the output rotary member; a clutch mechanism (C1, C2, B1) configured to switch the power transmission pathway between the first power transmission pathway and the second power transmission pathway; characterized by an electronic control unit configured to perform a shift in the stepless speed change mechanism so as to change a rotational speed of the input rotary member in a stepwise manner, according to shift characteristics of a shift performed in the power transmission mechanism, or according to shift characteristics of a shift realized by switching between the first power transmission pathway and the second power transmission pathway, the shift characteristics including a value of the rotational speed of the input rotary member obtained at a point in time at which the shift is started. a driving power source; an input rotary member configured to transmit power of the driving power source; at least one drive wheel; a stepless speed change mechanism provided on a first power transmission pathway, the first power transmission pathway being defined between the driving power source and the drive wheel; a power transmission mechanism including at least one gear position, the power transmission mechanism being provided on a second power transmission pathway, the second power transmission pathway being defined between the driving power source and the drive wheel; an output rotary member configured to deliver the power to the drive wheel, the stepless speed change mechanism and the power transmission mechanism being provided in parallel on a power transmission pathway between the input rotary member and the output rotary member; a clutch mechanism (C1, C2, B1) configured to switch the power transmission pathway between the first power transmission pathway and the second power transmission pathway; characterized by an electronic control unit configured to perform a shift in the stepless speed change mechanism so as to change a rotational speed of the input rotary member in a stepwise manner, according to shift characteristics of a shift performed in the power transmission mechanism, or according to shift characteristics of a shift realized by switching between the first power transmission pathway and the second power transmission pathway, the shift characteristics including a value of the rotational speed of the input rotary member obtained at a point in time at which the shift is started.