Succubus Tamer no Isekai Musou: Genjuu-tachi no Chi wo Hiku Saikyou no Succubus to Hajimeru Mazokuryou Kaitaku

Malt Arcane is a "Tamer" whose ancestors are heroes of the human race. When Malt goes to defeat monsters, he is attacked by two low rank demon Succubi! When he activates his skill on them, they both undergo a mysterious change... The Hero, now branded as a failure and exiled from his home, begins to explore the demon territory accompanied by the two Succubus, Filei and Miru...!

(Source: Futabasha, translated)