Crayon Shin-chan: Unkokusai no Yabou (1995)

A Time Patrol member finds a disturbance in Japan, but when she goes to investigate,she gets stuck in Nohara residence. She asks for help from the Noara family. They go to ancient Japan and meet a samurai who thinks they are the people he is to meet at an important moment in time. The samurai ask for help in defeating a man who has magical powers.