Renaissance
Credit: Wikipedia

Around 1527 sonnets titled Sonetti Lussuriosi (Lust Sonnets) by Pietro Aretino were published, accompanied by engravings by Marcantonio Raimondi. Unlike sexual images before, these illustrations were frank depictions of men and women in various sex positions without any mythological context. Early on, these drawings were passed around among the courtly elite – and probably used for sexual purposes – and no one complained. However, once they became available to the general public, Raimondi was briefly imprisoned by papal authorities. This marked an important turning point in history, as it was possibly the first time that something was censored (rather than merely censured) for being obscene.