Yari no Yuusha no Yarinaoshi

Motoyasu Kitamura is summoned to another world to serve as the Spear Hero, but something eventually manages to kill him. When he dies Motoyasu suddenly finds himself back on the day he was first summoned to the new world―without losing any of his power! It's the start of a new game in god mode! This time he's determined to get things right―for the sake of his beloved Filo-tan, the magnificent filolials, and his "father," the Shield Hero.

(Source: One Peace Books)