After reading most of the "In Death" series, I feel as though I know the characters, and can enter the books without any effort. The author's style is remarkable, her understanding of human nature very deep. In "Survivor in Death" a little girl is the only survivor of a family murder. She is taken in by Eve and Roarke for protection. The passage describing her farewell to her parents and brother is heartbreakingly innocent and beautiful. I remember that as a standout among all the scenes in the series.
As each book stands alone as well as being part of a series, there's no sense of loss if you start with a book other than the first.
I'll always be first in line for a J D Robb book.