Lordvessel Bonfires
To be able to warp between Bonfires in Dark Souls (and even then you can't just warp to any one you want), you need to acquire the Lordvessel. To get this, you first have to ring both Bells of Awakening, before finishing Sen's Fortress and reaching Anor Londo. Defeat the bosses there and the Princess will give you the Lordvessel.
This will then allow you to warp between the bonfires below, once you have discovered and activated them:
Altar of the Gravelord (at the Tomb of the Giants)
Altar of Sunlight (in the Undead Parish)
Anor Londo (the one by the Firekeeper in Brass armor)
Chamber of the Princess (Gwynevere, Anor Londo)
Darkmoon Tomb (at Anor Londo)
Daughter of Chaos (between Queelag's Lair and the Demon Ruins)
Firelink Shrine
Stone Dragon (at the end of Ash Lake)
The Abyss (beneath New Londo)
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