Moses and the Brazen Serpent Peter Paul Rubens (1577-1640)

The picture has something of this: saint, Renaissance, baroque, people, god, Mary, allegory, group, kneeling, nude, veil, woman, book, baby, facial hair, man.
Perhaps it’s a painting of the crucifix being nailed to the cross by a group of men, with a third man holding a crucifix in the foreground.