Rubens, Peter Paul – Cimon en Pero, 1630-1640 Rijksmuseum: part 1

The picture has something of this: people, woman, two, pain, son, child, baby, saint, Renaissance, man, baroque, kneeling, reclining, group, position.
Perhaps it’s a painting of a man and a woman sitting next to each other, one of them is touching the other end of the man’s arm.