Sword of the Musketeers is Episode 11 of Season 1. It aired on March 30th, 2003. Here's the synopsis from TV.com:
The classic cut-and-thrust of the Hollywood movies had a basis in reality. The cup-hilt rapier, with its light and flexible blade, did not require a left-hand dagger for defense.
This was the sword of the French Musketeers and of the Spanish Conquistadors--the most feared swordsmen in Europe. Our team shows how the art and sport of fencing began with this weapon, and compares the reality of the weapon with the myth of its use. Hosted by actor and fight master Peter Woodward.
-- Casey, Webmaster