Drive force control system for vehicle with infinite speed ratio continuously variable transmission

When an engine control unit (70) controls an engine rotation speed Ne to an idle rotation speed, and a select range is changed over from a non-travel range to a travel range, a speed change control unit (80) commands an increase of engine torque supplied to the engine control unit (70), and increases the transmission torque of a continuously variable transmission (2) according to the increase amount of the engine torque.