Rubens Mars and Rhea Silvia Peter Paul Rubens (1577-1640)

The picture has something of this: baroque, Renaissance, saint, people, god, woman, Mary, baby, sculpture, book, kneeling, holy, group, man, allegory, interior.
Perhaps it’s a painting of a man helping a woman to put her hand on the head of a woman who is sitting on a bed in a room with other people.