Demon's Souls is an action role-playing game for the Playstation 3. Set in a dark fantasy world, players journey to the fictional kingdom of Boletaria, which is being ravaged by an accursed fog that brings forth demons that feast on the souls of mortals.

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What is the relationship between Dark Souls and Demon's Souls?

I just got a hold of Dark Souls but I have never played Demon's Souls before. I know the games are related and was just wondering to what degree in terms of storyline, characters, etc.