This painting is #6 of 14 fresco panels in a frieze titled Stories of the Foundation of Rome. 

Lorenzo Magnani commissioned the frieze in 1590 to celebrate the nomination of his family as a new member of the city’s senate.

Magnani hired three artists from the same family to complete the project: brothers Annibale and Agostino Carracci and their cousin Ludovico Carracci.

The frieze decorates the top of the four walls in the grand hall of Magnani’s home (Palazzo).

The Carraccis used Plutarch’s Life of Romulus as their source and inspiration for the frescoes. The story of Rome unfolds in the fourteen narrative panels.

You can see the first six panels in the slideshow below.

As the remaining panels contain spoilers, I have not included them here, but you can see them on the Palazzo Magnani website here.