Genesis is definitely one of the better Who stories.
Usually with a long-running show I'd recommend starting at the beginning, but due to Who for the most part consisting of self-contained stories, I would say definitely jump into Pertwee's and (Tom) Baker's output as they arguably are the best and most accessible Doctors to start with for someone who is new to the show.
As with every show there are good and bad stories, but there are few to no stinkers in the above two doctors' output in my opinion.
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