The profiles are grandfather and grandson. Not much is known about the grandfather. Both Daubeney families were obscure before they came to England.
Pincerna is Latin for butler. The grandson was Butler to Henry I. I don't know of his father or grandfather ever being a butler.
The picture seems to show a sideboard with a row of bottles. But there's nothing to connect it with William Pincerna particularly. Could be just a generic illustration of a medieval butler.