Castlevania - Circle of the Moon

From the introduction:

Ten years ago, Morris Baldwin and two other hunters did battle with Count Dracula, the prince of darkness and lord of shadows. Though they lacked the famous Vampire Killer whip, they were able to scrounge enough holy weaponry together with the aid of the church, creating an unstable prototype of the Dual Setup System. With this, Dracula was laid to rest once more. However, today, Morris, alongside his son, Hugh, and the son of his former partners, Nathan Graves, must join the fray once more as they have discovered a plot to resurrect Dracula yet again.