What was the name of that cartoon set in medieval times that was on TV in the 1990s?

At least I think it was the 1990s. The background story was that the king and queen of a kingdom were off fighting battles throughout the world, so they left their son in charge of their kingdom until they got back. The son was a big, strong guy, but didn't like fighting. He'd rather do something like cooking or needlepoint. And he was afraid of a lot of stuff. There was a teenage daughter who was rather girly, I think her name was Candy or Mandy. Then there was a rather vicious younger daughter whose catchphrase was "Not a monkey". The son had a talking sword and there was a senile sorcerer in their employ. Oh, and all of the episodes had a narrator.