Gem your armor using decorations
To get the esp skill from nothing, you'll need 2 swordsman jewels (each one requires 3
slots to gem) and 2 fencer jewels (each one requires 1 slot to gem), or alternatively 10
fencer jewels. The swordsman jewel requires you: 1 lapislazuli jewel, 1 silver rathalos
wing, 1 fatalis eye, and 1 majestic horn. Fencer jewel requires you: 1 battlefield jewel,
and 1 rathalos plate.

Create a set of armor with fencing+
Some armors in mhfu offer the fencing skill (esp). Some good examples are the silver
rathalos, black and white fatalis, ceanataur x, and g-rank silver rathalos

Sword saint piercing
Sword saint piercing is a very valuable piece of armor, since it will give you an
automatic esp skill (fencing +10), simply by equipping it ^_^
To get it, you'll have to clear all special training quests (5 monsters, they are
cephadrome, plesioth, shogun ceanataur, rathalos, and rajang. 5 weapons each, 25 in total)
you can unlock all of them by completing the battle training quests (only 1 weapon each is
enough) and by killing the actual monster outside the training school. After you completed
all the special training quests, exit the training school and claim your ssp!