Gauntlet: Dark Legacy is still one of my favourite games, although it is getting on a bit!
It was released in arcades in 2000 and 2001 for Playstation 2 and the following year for Game Boy Advance, GameCube and Xbox, and it is an expansion of the previous title in the series, Gauntlet Legends.

The expansion adds four new character classes (Dwarf, Knight, Jester, and Sorceress, as shown on the cover of the game), and five new levels (Dream Realm, Sky Realm, Desert Realm, Forest Realm, and Forsaken Province with the old Town Realm from Gauntlet Legends being broken down into Forsaken Province & the Sky Realm.). It also adds a large number of secret characters, some of which can be unlocked in the game, most only accessible by entering specific cheat codes.

Anyway, here is a site which includes a strategy guide to the game.

http://strategywiki.org/wiki/Gauntlet_Dark_Legacy

I would really recommend giving Gauntlet: Dark Legacy a try!