Goltzius, Hendrick – Lot en zijn dochters, 1616 Rijksmuseum: part 4

The picture has something of this: nude, people, Renaissance, woman, shirtless, son, man, reclining, saint, baby, god, girl, child, nymph, portrait.
Perhaps it’s a painting of three naked men and a woman sitting on a blanket in a wooded area, one of which is holding a plate of food and the other.