Cornelisz. van Haarlem, Cornelis – Venus en Mars, 1628 Rijksmuseum: part 1

The picture has something of this: nude, people, Renaissance, baby, son, man, shirtless, sculpture, baroque, kneeling, saint, mammal, two, god, woman.
Perhaps it’s a painting of a group of naked men in a cave with a woman in the foreground and a man on the other side of the painting.