The Reconciliation of Jacob and Esau, as in Genesis 33, 

Oil on panel, at the National Galleries of Scotland
Painting by Peter Paul Rubens (1577–1640)

Source: Wikipedia

In the right lower foreground, a black goat and a black ram, stand with two sheep.  To the left, a woman is stretched out in supplication, holding a naked, curly blond  small child with her left arm.  She is dressed in gold brocade.

In the center of the painting are two men.  On the left stands an upright figure wearing a cloak over medieval arm leaning over and grasping the arm of the other man.  The soldier appears to be Esau.  Behind him are horses and armed soldiers.

Jacob is kneeling on one knee, his left hand grasping the wrist of Esau's stretched out hand, his righ hand pressed against his heart.  He is wearing a gray-blue cloak.  Both men have shoulder length hair, beards, and mustaches.

Behind Jacob are women and a dark skinned, turbaned man on a camel, a second camel beside him.  Another man stands behind the women, presumably one of Jacob's oldest sons.