Heck, if it was paper and pencil RPGing you wanted, there’d be no reason not to use D&D - just run an absolutely magic-free campaign with no fantastic creatures. There wouldn’t be much point playing anything but a fighter, a thief or maybe a modified bard (monks just have too many fantastic elements built into them). Or if you wanted a more realistic simulation, try the RuneQuest system with no magic, and be prepared for your first fight to end in maiming 'cos those location-based combat systems generally end in the loss of an extremity or a killing body blow if you don’t have magical healing to hand.