fantasy book I read in ~2004 about a man who is a warrior travelling the world

[Kyle]

Like I said I read this book about 15 years ago. It's about a man who is a skilled swordsman (in-fact, I think he may have never been beaten). It's set in probably the first few centuries AD (although I don't think the book has anything to do with Rome, but I can't say one way or another). He ends up finding a couple people who are about to become slaves but he saves them and they end up travelling with him. I think during part of the book he ends up being defeated and captured or something and part of the book is about him escaping. I also think magic is totally absent from this book. That's about all I can remember.

[Kris]

Kyle, what are the fantasy elements?

Is this book for teens or older adults?