Wikipedia
is a Japanese visual novel produced by Two-Five. In October 2006, Hirameki International released an English edition of the PC version in the United States. It is part of their AnimePlay PC line, and as such is a PC game (as opposed to the DVD games in that line, which have limited features). There is also a version for the PlayStation 2 titled Yo-Jin-Bo: Unmei no Freude and a manga adaptation of the game.
The explanation for this name is a bit of a pun, as "yojinbo" itself means "bodyguards" in English, and three of the main characters have nicknames that make up this phrase (Yo, Jin, and Bo). Incidentally, these three characters are the ones that seem to be naturally grouped by themselves, and the reader sees them all at a festival together at the introduction of the story.