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The first game, Demon's Souls, was released exclusively on the PlayStation 3 in Japan on February 5th 2009. It was never planned to be released outside of Japan, but due to its positive reception and being import-friendly, it soon gained traction and popularity in the West. This led to it being published in the US and PAL region in October 2009 and June 2010, respectively.
Dark Souls, which is not a sequel but a spiritual successor, was released in October 2011 on both PS3 and Xbox 360. It became an even bigger success due to it refining the previous game's features, as well as being released on multiple platforms. A PC port was also released in August 2012.