Youjo Ranbu ~Yogosareta Seiiki~

In the Gaia continent, once every 1000 years, there is a holy ritual where the pricesses from the 5 dynasties gather together and pray that the holy sprits will bring peace to the land. Just so happens the millenium ritual is being held this year, and therefore attracted a lot of people. Among them is a mercenary called Reseshibu and his friend Jena. Just as the ritual is about to begin, the sky went gloomy and somebody invaded the castle where the ritual is held. Reseshibu and Jena rushed to the castle to see what happened, and found out that the 5 princesses were abducted by ex-royal-magician who was expelled from the kingdom 12 years ago. He new returns to take revenge by using the 5 princesses as sacrifices to summon monsters. What's more surprising is that this villain is Reseshibu's uncle. After abducting the princesses, Reseshibu's uncle challenges our hero to search in the 5 temples and rescue the princesses and ultimately defeat him. Of course, Reseshibu accepts the challenge. Also hinting from the prologue is Reseshibu's unknown relationship with the princesses as well as his uncle...

[From Anime Densetsu]