Passage 5.19.9
λέγεται δὲ καὶ ἐς τὸν Κένταυρον ὡς Χίρων, ἀπηλλαγμένος ἤδη παρὰ ἀνθρώπων καὶ ἠξιωμένος εἶναι σύνοικος θεοῖς, ῥᾳστώνην τινὰ ἥκοι τοῦ πένθους Ἀχιλλεῖ παρασκευάσων. παρθένους δὲ ἐπὶ ἡμιόνων τὴν μὲν ἔχουσαν τὰς ἡνίας, τὴν δὲ ἐπικειμένην κάλυμμα ἐπὶ τῇ κεφαλῇ, Ναυσικᾶν τε νομίζουσιν εἶναι τὴν Ἀλκίνου καὶ τὴν θεράπαιναν, ἐλαυνούσας ἐπὶ τοὺς πλυνούς. τοξεύοντα δὲ ἄνδρα Κενταύρους, τοὺς δὲ καὶ ἀπεκτονότα ἐξ αὐτῶν, δῆλα Ἡρακλέα τε τὸν τοξεύοντα καὶ Ἡρακλέους εἶναι τὸ ἔργον.
There is also a story regarding the Centaur, that Chiron, having already departed from humans and having been deemed worthy to dwell among the gods, came to afford Achilles some alleviation of his grief. And as for the maidens upon the mules—one of whom holds the reins, and the other wears a veil over her head—they believe them to be Nausicaa, daughter of Alcinous, and her handmaiden, driving to the washing pools. Furthermore, regarding the man who shoots arrows at Centaurs, with some of the Centaurs already slain, it is clear that the figure depicted shooting is Heracles, and that the deed is his work.