Dark Souls 1 is the best.
I always got a sense of accomplishment from ringing the bells or killing the 4 Soul Lords. In Dark Souls 2 killing the 4 Soul Lords feels more like a chore. The world doesn't feel as connected as DS1 and I end up usually going back and forth between the different paths and I don't have a sense of purpose.
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I agree. The atmosphere was also better in the first game. Not that the sequel was bad but it just did not live up to the emphasis on difficulty. I also found no replay ability. I was not ethusiastic about replaying it. As for the first one i got to new game + 7 and that's one out of my 5 characters. Dark souls one as you stated had more of an accomplishing feeling. Also the pvp was horrible in the sequel. I could not go anywhere without the blue Covenent behind me. Dark souls online was not supposed to be easy to use, that's what made the first one seem more achieving.