A control system includes a vehicle speed sensor, a roll rate sensor, a steering angle calculation unit, a steering angle control unit, an actuator, and a rear wheel steering angle sensor. The steering angle calculation unit acquires a roll rate and vehicle speed of a motorcycle and determines a target steering angle and a delayed steering angle of a rear wheel depending on the acquired roll rate and vehicle speed. The steering angle control unit causes the actuator to steer the rear wheel by the actuator based on the delayed steering angle determined by the steering angle calculation unit. Alternatively, a motorcycle includes a first holding member arranged to rotatably and steerably hold a front wheel of the motorcycle, a second holding member that is attached to the first holding member arranged to hold a rear wheel, and a controller arranged to swing one of the first and second holding members with respect to the other based on the roll rate detected by the roll rate detector.