In order to achieve efficient particle packing, minimizing the space of occupation and maximizing the strength of packing, it is important to understand the best methods of fill and the effects of various particle properties, including particle shape. In this study, the packing behavior of cylindrical particles is studied via both Discrete Element Method (DEM) simulations and complementary experiments. The effects of coefficient of friction, coefficient of restitution, drop height, fill height, packing method, deposition intensity (number of particles deposited per second), container size, surface roughness, and Young's modulus are investigated. In addition, two methods of packing density analysis from DEM simulations - a center of particle method and a top grid analysis method - are introduced. It is found that the packing density increases with fill height, container diameter, coefficient of restitution and drop height and decreases with coefficient of friction, surface roughness and Young's modulus. Different packing methods are explored, and it is found that the most efficient packing scheme is to pouring particles over the whole cross-section with low deposition intensity and at a variable drop height. Finally, DEM simulation predictions for particle packing of cylinders show good agreement with experimental measurements.