Shijou Saikyou no Deshi Kenichi, Asu no Yoichi! Recommendations
Both involves serious martial arts mixed with lighthearted comedy. While Asu no Yoichi is more harem oriented, Kenichi is much more martial art oriented.
Do you want to laugh? You should give Asu no Yoichi! a try. It's a really good anime and similar to History's Strongest Disciple Kenichi. It's funny, it is about martial arts and it has ecchi scenes. Unfortunately, it's short and it's figt scenes aren't as epic as Kenichi's.