A system (8; 108; 208; 308; 408; 508; 608) for stimulating the lower limbs of a passenger of a vehicle, the stimulation system (8; 108; 208; 308; 408; 508; 608) including a support (26; 226) and a bearing device (24; 224), the bearing device (24; 224) including first and second bearing members (38, 40; 238, 240), each of the first and second bearing members (38, 40; 238, 240) being intended to receive a respective portion of a lower limb of the passenger, each of the first and second bearing members (38, 40; 238, 240) being movable between a corresponding first position, in which the bearing member (38, 40; 238, 240) is located at a corresponding first distance from the support (26; 226), and a corresponding second position, in which the bearing member (38, 40; 238, 240) is located at a corresponding second distance from the support (26; 226) distinct from the first distance, the stimulation system (8; 108; 208; 308; 408; 508; 608) being characterised in that it further includes a control unit and an actuation device (28; 228); the actuation device being configured to drive the bearing device (24; 224) movably relative to the support (26; 226); the control unit being configured to control the actuation device (28; 228) in order to cause, successively over time: - the selective bringing of one of the first and second bearing members (3840; 238, 240) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position; - then, after a non-zero latency time, the selective bringing of the other one of the first and second bearing members (40, 38; 240, 238) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position (40, 38; 240, 238). the bearing device (24; 224) including first and second bearing members (38, 40; 238, 240), each of the first and second bearing members (38, 40; 238, 240) being intended to receive a respective portion of a lower limb of the passenger, each of the first and second bearing members (38, 40; 238, 240) being movable between a corresponding first position, in which the bearing member (38, 40; 238, 240) is located at a corresponding first distance from the support (26; 226), and a corresponding second position, in which the bearing member (38, 40; 238, 240) is located at a corresponding second distance from the support (26; 226) distinct from the first distance, the stimulation system (8; 108; 208; 308; 408; 508; 608) being characterised in that it further includes a control unit and an actuation device (28; 228); the actuation device being configured to drive the bearing device (24; 224) movably relative to the support (26; 226); the control unit being configured to control the actuation device (28; 228) in order to cause, successively over time: - the selective bringing of one of the first and second bearing members (3840; 238, 240) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position; - then, after a non-zero latency time, the selective bringing of the other one of the first and second bearing members (40, 38; 240, 238) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position (40, 38; 240, 238). - the selective bringing of one of the first and second bearing members (3840; 238, 240) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position; - then, after a non-zero latency time, the selective bringing of the other one of the first and second bearing members (40, 38; 240, 238) from the corresponding first position to the corresponding second position, then from the corresponding second position to the corresponding first position (40, 38; 240, 238).