Despite being one of my favorite PS2 games ever, Drakengard 1 is hard to recommend to just anybody. Like I said above, the combat is kind of wonky, there are some baffling design decisions that make the game harder to play than it should be (bad camera control for starters), the engine's limitations mean an absurdly poor draw distance... overall, the gameplay experience is just barely adequate.
But if you can put up with all that (or look past it), you'll play something entirely unique, disturbing, bizarre, and adult in ways games never attempt to be. Taro decided to explore human taboos with the game, and it's hard to come up with one that isn't present in some form. The soundtrack is excellent but extremely experimental. It's often cacophonous and sometimes not even musically interesting. It's perfect for the game, but it's divisive.
Drakengard 2 is better in almost every way... except for the story, the characters, and the soundtrack (which is good but more traditional). So mechanically it's a better game than 1, but it's less interesting. It's a fine game, but I wouldn't play it unless you've played 1, honestly.