Yes, the Dark Souls video game series contains a deeply intricate story and lore.
The main story follows a character known as the “Chosen Undead”—a cursed being going on a quest to link the bonfires of the world and save it from encroaching darkness. Along the way, the Chosen Undead encounters a variety of foes, allies, and mysteries.
Although the story is not always fully revealed or explained directly, there are a great amount of details tucked away in items and descriptions, as well as conversations that provide hints towards the overall narrative.
Dark Souls is known for its complexity and depth of storytelling, making it one of the most popular and beloved game series of recent generations.
For more on the story of Dark Souls, you can check out this fan-created guide: http://darksouls.wikia.com/wiki/Storyline