The Visit of the Empress Faustina to Saint Catherine in Prison Lodovico Carracci (1555-1619)

The picture has something of this: people, Renaissance, saint, woman, Mary, baby, group, veil, man, baroque, two, son, god, kneeling.
Perhaps it’s a painting of a woman being taken from a man’s lap by a man with an angel on his shoulder and a man holding a woman’s hand.