Lupin was the best DADA professor in my opinion. He not only knew his subject very well and taught the students important spells and things, but he also made learning fun and genuinely cared about them.
Remus Lupin was the best at teaching, as well as just caring for his students. Barty Crouch Jr. as Mad-Eye Moody is a second since he mostly taught them very well, but he lacks the sympathy and understanding Lupin has.