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Control hints are shown on the dungeon's floor. But here you go.

Keyboard:
Arrows/WASD - Move
Space - Use/Open
Z/J - Sword
X/K - Shield
C/L - Dash

Gamepad:
D-pad/Left Stick - Move
A - Use/Open
X/RT - Sword
LT/LB - Shield
Y/RB - Dash