What movie is this about a knight and a princess?

There was this movie I watched a while ago. It's a medieval movie
about a knight and a princess. I forgot the details but in the ending
the knight who has been injured has sex with the princess. The sex is
arranged by the maids and the other kingsmen. They put the knight on a
stretcher thingy and lay him on the princess.

Can someone tell what movie was this?