One tends to think of the Middle Ages and Renaissance as a period in which people never bathed -- yet this is not the case. Not only did our ancestors bathe (and probably a bit more often than we give them credit for), but this became a sort of recreational activity in some settings.
There are also many images, such as those depicting the Nativity or the Birth of Mary, which show babies being bathed in shallow washtubs.
Another "bathhouse babe" in an astronomical text (ÖNB 2352, fol. fol. 34v), c. 1392-1394
Another bathhouse babe in the Epistles of Paul (ÖNB 2789, fol. 1r), c. 1395-1400
More "bathhouse babes" here and here in a commentary on Ptolemy (ÖNB 2271, fol. 1r), c. 1395-1405
Bathing from the Tacuinum Sanitatis (BNF Nouvelle acquisition latine 1673, fol. 97), c. 1390-1400
If your lord wishes to bathe and wash his body clean, hang sheets round the roof, every one full of flowers and sweet green herbs, and have five or six sponges to sit or lean upon, and see that you have one big sponge to sit upon, and a sheet over so that he may bathe there for a while, and have a sponge also for his feet, if there be any to spare, and always be careful that the door is shut. Have a basin full of hot fresh herbs and wash his body with a soft sponge, rinse him with fair warm rose-water, and throw it over him; then let him go to bed; but see that the bed be sweet and nice; and first put on his socks and slippers that he may go near the fire and stand on his foot-sheet, wipe him dry with a clean cloth, and take him to bed to cure his troubles.
Facta et dicta memorabilia (BNF Fr. 289), second half of the 15th century: The baths of Sergius Orata (fol. 414v), and Pompey insults Plautius Hypsaeus (fol. 458v). Notice here the contrast between a public (or communal) bathhouse, and a private bath.
Medea rejuvinates Jason, Ovid's Metamorphoses (BNF Fr. 137, fol. 91), second half of the 15th century