I wish I remembered what this tapestry was called and when and where it was made. It's been on display in room 94 in the V&A together with the Devonshire tapestries. Sadly, due to a sprucing up of the museum, this room is closed until 2006. If you haven't seen the tapestries yet, do when they open the display again.
Hopefully my museum catalogs will return from the walkabout in my bookshelves one of these days. What I do remember though, is that people and animals are almost life size. The details are amazing, down to the wrinkled hose, comb details and some very elaborate shepherding outfits on some of them. Look at the second detail with the yellow dress.