This picture is from a series illustrating stories from ancient Roman history. They show: 'The Attack on Cartagena'; 'The Continence of Scipio'; 'The Rape of the Sabines'; and 'The Intervention of the Sabine Women'.
Two other pictures from the same series are known: a 'Coriolanus' and a 'Scipio rewarding the Soldiers'. 'The Continence of Scipio' and 'Rape of the Sabines' were popular topics for illustration. The format of the pictures suggests they were made for the decoration of a room.