Kyonyuu Fantasy 5 -Ouji Leen-

The main character, Leen, is the third prince of the Kingdom of Regalia. Although he is a prince in his own right, he is excluded from the race to succeed the king because his mother was a slave turned concubine. When he turns 20, he is dispatched to the remote land of Borondo as a count. On the way to Borondo, Lean meets a female magician. The woman has lost her donkey and is stranded. Lean gives her his horse. In return, the sorceress gives him a “magic lamp” to use when he gets lonely. It was meant to be used when he feels lonely. The lamp turned out not to be a wish fulfilling lamp, rather a useful item to summon the famous succubus dancers. The one who was summoned by the magic lamp was... Belbel, a daughter of the succubus tribe. [From official site]