When and in which surah was jihad made compulsory?

Jihad is an Arabic Word that means struggle. All people of the world of all religions and faiths are struggling (practicing Jihad); since start of mankind creation; to have better life, better education, achieve their goals of life, raising up their children, caring for the poor, ... etc. Same per Islam religion, Jihad is obligatory to every Muslims; same as in other religions. Refer to question below for more information.