A control device is configured to control a vehicle in which an engine is able to be started in response to a request signal transmitted from the outside of the vehicle. The control device includes a controller. The controller acquires the result of detection about the vehicle state of the vehicle from a first sensor group including one or more sensors able to detect the vehicle state of the vehicle before the engine of the vehicle is started in response to the request signal, starts the engine in a case where the vehicle state satisfies a first condition including a condition relating to a range of a transmission of the vehicle, and does not start the engine in a case where the vehicle state does not satisfy the first condition.