The Triumph of Aemilius Paulus depicted the return of Roman general Aemilius Paulus after he and his army defeated King Perseus of Macedon in 169 B.C. General Paulus is seated on a golden Cart. Behind him is King Perseus and his family, who were captured and taken back to Rome as prisoners. Several figures and a cart are shown to hold golden objects, which were likely plundered from towns after the defeat of King Perseus.

Horace incorporated various Roman architecture in the background. One of the Roman architecture was the temple of Jupiter Capitolinus with its one hundred steps, and to the right of it is the Colosseum, and then there are the two Triumphal Arches.