In The Name of Allaah, The Most Merciful, The Bestower of Mercy

Now has come to you Our Messenger [Muhammad] explaining to you much of that which you used to hide from the Scripture and passing over [i.e. leaving out without explaining] much. Indeed, there has come to you from Allah a light [Prophet Muhammad] and a plain Book [this Qur’an].  Wherewith Allah guides all those who seek His Good Pleasure to ways of peace, and He brings them out of darkness by His Will unto light and guides them to a Straight Way [Islamic Monotheism].

[Surah Al-Maa’idah Aayaat 15-16]

[In the Aayah above, it is stated]: “Wherewith Allah guides all those who seek His Good Pleasure to ways of peace”; but it is stated in another Aayah that Allaah’s Path [or way] is one, [such as the Aayah]: “And verily, this is my Straight Path, so follow it, and follow not [other] paths, for they will separate you away from His Path.”
[Surah Al-An’aam’ Aayah 153]

What Is The Combined Meaning of The Two Aayaat- Al Maa’idah Aayaat 15-16 and Al An’aam Aayah 153?

Answer: Allaah’s path is one, but it has branches [i.e. legislated acts of worship attached to one path], such as Salaah, Zakat, Sawm, Haj, Jihaad [ref 1], righteousness, keeping the ties of kinship and other deeds. All these deeds [i.e. Salaah etc are legislated ways to peace as mentioned in Al-Maa’idah’ Aayaat  15-16] are under the [umbrella] of one path [i.e. Allaah’s legislated path mentioned in Surah Al-An’aam Aayah 153 and not the innovated paths or acts of worship].

[Source: Muqaddimah Fee Usool At-tafseer. By Shaikh Uthaymeen (rahimahullaah).page 16. Slightly paraphrased]
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Jihaad in our times
http://www.abukhadeejah.com/salafi-shaikh-fawzaan-on-jihaad-in-our-times-and-the-guidelines-of-jihaad-according-to-islam/