18+ Shinimodotta Ore wa Seinaru Yuusha wo Yamete, Harem Tsukutte Koshi wo Hekoheko Futteitai

After perishing in battle against the Demon King, the hero Haruya awakens to find that time has rewound to before he set out on his journey. In this second life, Haruya decides to quit being a hero and dedicate his life to building a harem and thrusting his hips, but...!?

(Source: Ichijinsha, translated)