The documentary of which you speak aired on the History Channel in 2009/10. The narrator discussed an ancient Egyptian papyrus scroll found in the surrounds of deir el-Medina, Egypt.
Since the papyrus is now in Italy and, housed in the Museo Egizio in Turin, it is known as the Turin Erotic Papyrus. The papyrus dates to about the 20th dynasty,
circa 1186-1069 BC.
There are two sections to the damaged papyrus. The first section is satirical showing humanized animals acting in scenes of daily life. Fighting and quarreling, playing musical instruments, driving chariots, etc..
The second section is explicit, showing a courtesan engaged in various sexual activities with an older gentleman.
The actual purpose of the papyrus is not known, although some have referred to it as the first 'Men's Magazine,' complete with comic and adult entertainment.