Erotic mural found in Pompeii, Italy, the Roman Empire, buried 79 AD
Classical Antiquity (~800 BCE - 500 AD)
(media.piefed.social)
I saw some of these in person. There are also phalluses/penises everywhere. Every street corner, sidewalks, random walls. Apparently they direct you to the brothels.
Edit: checked, and I should have put "phalli"!