Although this isn't an rpg system, this book is The Shannara companion book which could serve as a guide to the setting and the background information that you could use to build a campaign from:
If you're familiar with those systems, why not just grab a world book about Shannara, (http://www.amazon.com/The-World-Shannara-Terry-Brooks/dp/0345480686) use say Pathfinder, and tweak stuff as needed?
Shannara is essentially heroic fantasy, and that's the one thing Pathfinder and 3.5 do well. Use the world as is, set up characters based on Shannara archetypes, and chance the particulars to fit the fiction (together with your players). Should work fine!
Well reading the books is the best and fullest way to learn about the world, but if you want something more concise and organized, there is the World of Shannara book that is a guide to the setting.
There is also a wiki