A vehicle navigation system includes a road-between-guidance-target-points configuration determining unit (9) for determining a configuration of a road between two successive guidance target points whose information is extracted from information stored in a guidance target point storing unit (8). A continuous guidance threshold distance setting unit (10) sets a threshold distance for continuous guidance based on the road configuration by using a table or the like. A distance-between-guidance-target-points calculating unit (11) calculates a distance between the two successive guidance target points. When the calculated distance between the two successive guidance target points is shorter than the set threshold distance for continuous guidance, a route guidance unit (12) provides continuous guidance for users through a guidance unit (16).