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It was originally bought by the aristocratic family in 1878.
A Commander Being Armed for Battle went to an anonymous bidder at Sotheby's, the second-highest price a Rubens painting has achieved at auction.
The painting was sold by a descendent of the 5th Earl of Rosebery, who acquired it in 1878, to the J Paul Getty Museum in Los Angeles.
For the past 22 years, Modern Rome has been on long-term loan to the National Galleries of Scotland *Marquis of Lothian The Marquis of Lothian sold a giant silver wine cooler once belonging to Thomas Wentworth, 3rd Baron Raby, at auction last week for £2.5m.
Alexander Bell, co-chair of old master paintings at Sotheby's, said participation in last week's old master sales from private collectors – from all over Europe, Russia and North America – was "notably higher than usual and buyers came from some 25 different countries".
A £10m bronze relief by Pierino da Vinci, which is part of the collection on public view at Chatsworth House in Derbyshire, was recently bought by the Prince of Lichtenstein, most probably for his museum in Vienna.