Fable maybe?
you can play with two people on the same console
and it's really fun too, except that the way the co-op works is sort of like Lego Star Wars, and if you've ever played those, you understand why it's bad
anyway, I've played Fable 2 before, and I can honestly say it's one of my favorite games
haven't played Fable 3 though
I don't know what Dark Souls is, so I don't know if you'd be interested though