You could just start with Dark Souls 1 or 3 and go from there. Although there are other souls-likes that aren't made by From Soft, like Nioh 1 & 2, Steel Rising, Code Vein, Mortal Shell and The Surge 1 & 2.

There's also Jedi: Fallen Order, which is kind of an easier take on Souls games. I think it's on sale on Steam.