The Hobbit by Tolkien: One of the first books that had me hooked, and started my curiosity with the written word.
Treasure by Clive Cussler: Dirk Pitt stuck in my imagination, I wanted to be him. That is what makes a great character.
Desert God by Wilbur Smith: Again, it is Taita, the eunuch slave, that gives the book your immersion factor; as well as great scenery.
Conclusion:- Strong unique characters, intense scenery description and precise movement detail equals a Best Seller.