Is experience dependently arisen? We experience birth , death , cravings , feelings, contact etc.. We also 'experience' ignorance(like self). We also experience choices. We can experience the whole existence as a human or a dog or as a insect. 
But we do not find origination of experience in dependent origination.

My question is : Is experience dependently originated ? If yes then at what stage in dependent origination ?
Yes, experience is dependently originated (in multiple steps). Dependent Origination describes this step-by-step emergence of experience. Ignorance and Consciousness are the early stages of the emergence of experience. Feeling is experience fully matured. Birth and death is experience developed to its logical conclusion.

The entire chain of dependent origination is a spiral. Its basic components are consciousness, craving, and action. It starts as vague and undifferentiated and proceeds in cycles getting more and more concrete over time.

In the beginning it is completely undifferentiated. While undifferentiated, it is still structured and active. It's called ignorance but what it really is, is the undifferentiated Ground of All.

Then, after many many cycles of activity, because similar things happen again and again, the imprints of the repetitions lead to formation of tendencies. At first these are very vague, very abstract tendencies - but after many cycles they start getting more and more specific. We call this "samskaras" - which can be translated "formations" or "imprints" or "tendencies". This is made from the same exact stuff as what we called "ignorance" - but now it is a bit more defined, it has slightly more specificity.

As more cycles pass, and things keep interacting and imprinting, imprints/tendencies/formations keep getting more and more specific, until they start resembling something like a (very-very vague) EXPERIENCE. At first, this experience is not vivid at all, rather like a vague recognition: "something like this was before". This basic recognition, the rudimentary inklings of experience, is what we call Vijnana or consciousness. This is still the same stuff as what we called Ignorance and Formations - now developed into something much more specific.

Just like this, things keep getting more and more specific. As tendencies get more and more defined, recognition grows into habit and attitude. Now it's not just "something like this was before", now it is also: "this has always been so and so" or "X always comes with Y" or "It's always A and then it's followed by B". In other words, as consciousness learns to recognize repeating patterns, it gets used to them. Whatever it gets used to, it is established in. From this it begins to form its attitudes: "This is the way it should be. This is right." and "This should not be this way. This is wrong".

And so, tendencies grow and develop, until they become several distinct things:
 - Consciousness, or ability to recognize patterns and situations, the basic capacity of Experiencing the world.
 - Habits and attitudes, aka pre-dispositions for and against certain experiences.

And then, after many, many more cycles - things get even MORE defined.

Consciousness grows into a full-blown ability to delineate and experience OBJECTS. While habits and attitudes develop into DESIRE and AVERSION towards these objects. Until this time, there was no "inside" and "outside". This point is the first inkling of the separation. The experience of recognition of objects will later develop into a full blown experience of "the world". And imprints/habits/attitudes will later develop into a full blown "psyche" or "sentient being".

All this time, activity never stopped. The Ground Of All kept moving and stirring. In fact, activity is exactly what supported formation of tendencies, consciousness, objects, and attitudes. As things were getting more and more defined, activity was getting more defined too! Influenced by habits and attitudes of attraction/aversion to objects, activity was getting increasingly more directional and purposeful, until it became full-blown KARMA -- action towards or away from the objects. Mind you, this karma always existed in rudimentary form, even since the times of Ignorance, and developed in lockstep with Consciousness and Craving (=attraction/aversion). Ignorance, Imprints, Recognition of patterns, Consciousness, Objects - is one branch. Ignorance, Tendencies, Habits, Attitudes, Attraction/Aversion (=craving) - is another branch. Ignorance, activity, attraction&amp;avoidance, pursuing, goal-making - is third branch. They support each other and help each other grow and get more concrete.

Interaction feeds imprints, imprints feed recognition, recognition feeds habit, habit feeds attitude, attitude feeds interaction. It's a cycle that perpetuates itself, propelling itself forward, helping things get more and more concrete.

When we say "things get more concrete" we mean the Experience of The Outside and Experience of The Inside gets more concrete.

First, there is only recognition of "this was before", then it's "this has always been like this", then "when this is so - it's right and when it's not so - it's wrong", then it gets to the level of objects and feelings.
"When this object is here - it feels good", "When this object is here - it feels bad". Things get more concrete like that, consciousness gets more concrete, experience gets more concrete, the attitude towards things get more concrete, and action towards things gets more concrete. And along with all this, our sense of SELF gets more and more concrete.

This is called "Dependent Origination". It's a self perpetuating cycle that proceeds from complete vagueness to increasingly more and more concrete EXPERIENCE of the inside and outside, experience of objects and the world, sense of self, attitude towards things, and intentional action towards things.