Alean control device for installation in a leaning vehicle, the leaning vehicle including at least three wheels (13, 14) and a prime mover, the at least three wheels (13, 14) including two steerable wheels arranged side by side in a left-right direction, the leaning vehicle configured to lean the steerable wheels and a vehicle body leftward when making a left turn and to lean the steerable wheels and the vehicle body rightward when making a right turn, the lean control device being configured to control an actuator that is capable of applying output torques to a vehicle body in directions to lean the vehicle body leftward and rightward and to raise the vehicle body upright, wherein: the lean control device is capable of executing at least a gravity compensation control and a self-standing assist control; the lean control device is configured to instruct the actuator to conduct a switch between the gravity compensation control and the self-standing assist control when a condition for a switch of control is satisfied, the gravity compensation control is executable when the leaning vehicle is at a speed equal to or lower than a first speed, the gravity compensation control being to instruct the actuator to apply output torques in directions towards a return to an upright state of the leaning vehicle, the self-standing assist control is executable when the leaning vehicle is at a speed equal to or lower than a second speed, the self-standing assist control being to instruct the actuator to apply output torques to keep the leaning vehicle in the upright state, the output torques comprise a first output torque at least when the leaning vehicle is at a stop and when the gravity compensation control is being executed, the first output torque being greater than zero and smaller than a leaning moment, the output torques comprise a second output torque at least when the leaning vehicle is at a stop, when the vehicle body leans at an angle within a substantially self-standing range and when the self-standing assist control is being executed, the second output torque being greater than the leaning moment, the leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body leans, and the second speed is lower than the first speed, the condition for the switch of control is that the leaning vehicle is at a speed equal to or less than a threshold, the threshold being a value neither greater than the first speed nor greater than the second speed, both of the gravity compensation control and the self-standing assist control are executable not only when the leaning vehicle is at a stop but also when the leaning vehicle is moving at a low speed which includes when a rider is walking the leaning vehicle. the lean control device is capable of executing at least a gravity compensation control and a self-standing assist control; the lean control device is configured to instruct the actuator to conduct a switch between the gravity compensation control and the self-standing assist control when a condition for a switch of control is satisfied, the gravity compensation control is executable when the leaning vehicle is at a speed equal to or lower than a first speed, the gravity compensation control being to instruct the actuator to apply output torques in directions towards a return to an upright state of the leaning vehicle, the self-standing assist control is executable when the leaning vehicle is at a speed equal to or lower than a second speed, the self-standing assist control being to instruct the actuator to apply output torques to keep the leaning vehicle in the upright state, the output torques comprise a first output torque at least when the leaning vehicle is at a stop and when the gravity compensation control is being executed, the first output torque being greater than zero and smaller than a leaning moment, the output torques comprise a second output torque at least when the leaning vehicle is at a stop, when the vehicle body leans at an angle within a substantially self-standing range and when the self-standing assist control is being executed, the second output torque being greater than the leaning moment, the leaning moment is a moment that acts on the vehicle body due to gravity when the vehicle body leans, and the second speed is lower than the first speed, the condition for the switch of control is that the leaning vehicle is at a speed equal to or less than a threshold, the threshold being a value neither greater than the first speed nor greater than the second speed, both of the gravity compensation control and the self-standing assist control are executable not only when the leaning vehicle is at a stop but also when the leaning vehicle is moving at a low speed which includes when a rider is walking the leaning vehicle.