Mars, Venus, and Amor Titian (Tiziano Vecellio) (1488/90-1576)

The picture has something of this: nude, people, Renaissance, baroque, reclining, woman, man, two, saint, pain, shirtless, son, veil, nymph.
Perhaps it’s a painting of a naked woman sitting on a bed next to a man with a helmet on his head and another man.