The interaction of quantum-mechanical systems with a fluctuating thermal environment (bath) is fundamental to molecular mechanics and energy transport/dissipation. Its complete picture requires mode-specific measurements of this interaction and an understanding of its nature. Here, we present a combined experimental and theoretical study providing detailed insights into the coupling between a high-frequency vibrational two-level system and thermally excited terahertz modes. Experimentally, two-dimensional terahertz-infrared-visible spectroscopy reports directly on the coupling between quantum oscillators represented by CH3 streching vibrations in liquid dimethyl sulfoxide and distinct low-frequency modes. Theoretically, we present a mixed quantum-classical formalism of the sample response to enable the simultaneous quantum description of high-frequency oscillators and a classical description of the bath. We derive the strength and nature of interaction and find different coupling between CH3 stretch and low-frequency modes. This general approach enables quantitative and mode-specific analysis of coupled quantum and classical dynamics in complex chemical systems.