|That's not what he meant when he asked "Give me a hand…"|
Hercules And Diomedes by Vincenzo de Rossi, 1550.
They're wrestling! Hercules is trying to throw King Diomedes of Thrace to his own man-eating mares and Diomedes is using a below the belt move to try to prevent it.
This is why modern men wear pants or as some people refer to jeans : tactical anti-wang grabber defensive armor.
While other people are almost certainly checking out Hercules' junk or Diomedes' balls, I'm noticing that Herc has stubby little legs.