A navigation system provides route guidance to a destination even when a facility in an unmapped area is input as the destination. When a facility in an unmapped area is input as a destination, the navigation system obtains a guidance route to an appropriate freeway exit near the facility, thus guiding a vehicle along the guidance route. Subsequently, the navigation system displays an arrow indicating the direction from a vehicle position to the facility and a linear distance from the vehicle position to the facility, thus guiding the vehicle to the destination. The guidance is provided until the vehicle arrives at the destination.