Heracles (known to the Latins as Hercules) is the best-known
and most popular hero in the classical mythology; he was the son of a mortal
woman and Zeus himself.
One of the stories about Heracles is his slavery under Omphale, the queen of Lydia. To recompense the unintended murder, Heracles had to sell himself as a slave for 3 years. He was bought by Omphale. While serving to her, Heracles undertook several adventures. Omphale, admiring her slave’s exploits and learning of his parentage, freed and then married him.
See: François Boucher. Hercules and Omphale.
Lucas Cranach the Elder Hercules and Omphale.
Nicolas Poussin Landscape with Hercules and Cacus.
Sir Joshua Reynolds. The Infant Hercules Strangling Serpents in His Crade.
Peter Paul Rubens Hercules Drunk, Being Led Away By a Nymph and a Satyr.