What is the title of this video game?

It was on the SEGA Dreamcast, I can remember it vividly. The opening sequence saw the main character resurrected by a mage and screaming "Who am I?!" Following this, players moved through a dungeon in the nude while fighting monsters alongside the aforementioned mage. After escaping this dungeon, the player confronts a village of Elves/Gnomes/Dwarves and defeats them in battle, earning their respect. Player could later send them out at will to search for treasure, etc. I didn't get much further than that when I played it. Can you tell me what it's called? Thanks!