In 1972 and 1973, the two Pioneer spacecraft were sent out to explore the outer solar system. being the first human-built objects to be able to achieve escape velocity from our solar system, it was decided to include a message should any aliens intercept them.
Carl Sagan was approached to design a plaque with a message from humanity. Linda Sagan created the artwork, and the plaques were fixed to both spaceships. According to Robert Kramer's memoir, the original design contained a line indicating the labia on the figure, but it was erased in order to get approval for the artwork.