A Journey Through Another World: Raising Kids While Adventuring

Due to a mistake by a god, Takumi Kayano loses his life and is reincarnated. Bestowed with various skills, he finds himself transported to another world—a perilous forest infested with monsters. In that forest, Takumi discovers what appears to be twin young boys and girls, whom he names Allen and Elena, and takes them under his protection. Despite being surprised by the two effortlessly defeating monsters with their martial arts skills, Takumi eventually reaches a town and registers with the adventurer's guild to make a living. Thus begins a laid-back adventurer's life as Takumi watches over the growth of Allen and Elena.

Synopsis from Anime News Network