supreme court and judicial review

The SCOTUS is the highest court of land and have the authority and duty to determine what is constitutional and what is not.

The US Constitution is a framework for governing that allows for change—slow, deliberate, and often frustrating change.

Where did the power of judicial review come from? Was it challenged at earlier times? By whom?  How did that go?

Hint: consider a very early SCOTUS case involving then Secretary of State James Madison.