The best advice I can give you is to just experiment. It has been a while since I last played; stopped after 1.10 came out, but I'll give you the basics that I'm pretty sure haven't changed.
You'll want base energy. Use a shield and be sure you pump dex to get max blocking at 99. There is a formula to figure out how much dex you'll need, but I don't remember what it is (it is also dependant upon the shield you're using). Last I played, it was smart to get str to whatever was needed to wear your equipment and then dumb the rest into vit. Keep in mind that a lot of equipment gives stat bonuses.
As for your skills, you'll want to max Battle Command, Battle Orders, and Shout. With your sword mastery that brings you to 80 skill points. I would recommend taking levels in Natural Resistance to max out your resistances as well as Iron Skin to boost your defense even more. However, you'll need to max out Whirlwind, so you won't have many skill points to work with. Just remember to use Battle Command before Battle Orders or Shout.