Tokyo Juushouden

Long ago, in feudal Japan, there was a fierce warrior named the Demon King. He controlled a band of demons, known as the Kyouma. Only the powers of ten warriors sealed the Demon King away and kept the Kyouma under control. But now, Lord Shindigan, a powerful Kyouma is planning to free the Demon King, and the reincarnations of the ten warriors must band together and save the earth.

(Source: Anime News Network)