Hmm...good RPGs I recommend:
Legend of Legaia: A rare find, to be sure, but if you find it, quite lucky you are. ^^ It has a good storyline, a nice soundtrack, a very unique and fun battle system, and it's just all around fun. It's the only RPG I've seen where changing your equipment makes your characters look different. A word of warning, though. For some reason, Legend of Legaia doesn't like to run properly on the PS2, so if you buy it, make sure you have a PS1 handy to play it.
Wild ARMs 3: Though to fully appreciate it a knowledge of the other two games is required, Wild ARMs 3 is enjoyable nonetheless. It should be fairly cheap, too, it's been out for a couple of years. It's an RPG with a wild west theme. The music is good, the graphics are cel-shaded (but excellent), and the opening theme changes as you meet new characters and enemies (I think there's like seven or eight opening animations).
Arc the Lad Collection: I warn you though, Arc the Lad I was a first-gen PS1 game, so the graphics are fairly dated, but the voice acting and music are superb. Really, you're just trying to make it through Arc the Lad I so that you can transfer your save file over to Arc the Lad II and unlock a ton of cool bonus features in that one, since Arc the Lad II is a VERY good RPG and has about 80+ hours of play time if you do all the side quests. Don't bother with Arc the Lad III, though...it's lame.
Lunar 1 and 2: Also quite rare...but worth it. I don't care for the battle system much, but the storyline rocks and the anime cut scenes RULE. The English voice acting is also really good. And the Boat Song is so awesome...and the bromides...heh heh heh... >:3
Mega Man X Command Mission: It's Mega Man...it's an RPG...yet somehow, it works...kinda. It isn't going to be the best RPG you've ever played, I'll tell you that right now. And the music is pretty irritating. And the manual is worthless. I'll tell you right now, since there's no other way to know: those little crystal thingies you always see are "treasure chests." You have to dash into them to open them. Yeah, I didn't know what they were either when I first saw them, because the manual sucks so bad, so I ended up missing all the treasure in the first level because of that and had to restart my game.
That's about all the good RPGs I can think of. So just pick one and go for it.