It’s not entirely clear how to parse this illustration, but my personal gloss is that the man of the house summoned the maid for a little professional help with his hard-on, and she’s pushing aside the hapless new wife, who is alarmed and displeased by the development:

maid pushes aside the woman in her employer's bed so she can tend properly to his erection

The art is by an unknown artist (thought to be Berthommé Saint-André) appearing in an edition of Pibrac: Quatrains érotiques de Pierre Louys.

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