Well you might consider it a charm, but it isn't ancient. From the style of the figures I think this is a more recent version probably not more than 100 years if that old. This is sometimes referred to as a wedding coin. (How to explain this and still keep it family friendly.) One of these would be given to the bride on her wedding day to explain what was expected on her wedding night. A one piece marital bed how to manual. On older pieces the figures are "clearer" as are positions. Let's let it go at that.
I could never explained that as clear as you did and still kept it at a level that anyone could share . Great way of putting it.